Crawling mechanism and welding robot

Abstract

The utility model discloses a crawling mechanism and a welding robot, and belongs to the field of welding robots. The crawling mechanism comprises a rack, a first linear module, a second linear module, a first mounting frame, a first connecting rod assembly, a third linear module, a second mounting frame and a second connecting rod assembly. The first linear module is arranged on the rack; the second linear module is arranged at the movable end of the first linear module; the first mounting frame is arranged at the movable end of the second linear module; one end of the second connecting rod is in sliding connection with the first connecting rod, and the other end of the second connecting rod is in rotating connection with the second linear module; the third linear module is arranged on the rack; the second mounting frame is arranged at the movable end of the third linear module; and one end of the fourth connecting rod is in sliding connection with the third connecting rod, and the other end of the fourth connecting rod is in rotating connection with the third linear module. According to the crawling mechanism, the working stability of the welding robot can be guaranteed while the advancing function is achieved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of welding robots, and particularly relates to a crawling mechanism and a welding robot. BACKGROUND

[0002] In the prior art, a welding robot for steel structure construction generally comprises a welding mechanism and a moving mechanism, the welding mechanism is arranged on the moving mechanism, the moving mechanism is movably arranged on the steel structure, and the welding mechanism is driven by the moving mechanism to move synchronously relative to the steel structure, so that the welding mechanism can be welded at different positions of the steel structure.

[0003] However, in the process that the welding mechanism of the existing welding robot is welded at the preset position of the steel structure, the moving mechanism is prone to displacement relative to the steel structure and drives the welding mechanism to displace synchronously, so that the welding mechanism deviates from the preset position and affects the stability of the welding work. CONTENT OF THE UTILITY MODEL

[0004] Therefore, the present application aims at overcoming the defects in the prior art, and provides a crawling mechanism and a welding robot, so as to solve the technical problem that the welding mechanism of the welding robot in the prior art deviates from the preset position of the steel structure and affects the stability of the welding work in the process that the welding mechanism is welded at the preset position of the steel structure.

[0005] To solve the above technical problem, the present application provides:

[0006] A crawling mechanism comprises:

[0007] a rack;

[0008] a first linear module arranged on the rack;

[0009] a second linear module arranged on a movable end of the first linear module;

[0010] a first mounting frame arranged on a movable end of the second linear module;

[0011] a first linkage assembly comprising a first linkage and a second linkage, the first linkage is rotationally connected with the first mounting frame, one end of the second linkage is slidingly connected with the first linkage, and the other end is rotationally connected with a fixed end of the second linear module;

[0012] a third linear module arranged on one end of the rack away from the first linear module;

[0013] a second mounting frame arranged on a movable end of the third linear module;

[0014] The second connecting rod assembly comprises a third connecting rod and a fourth connecting rod, the third connecting rod is rotationally connected with the second mounting frame, one end of the fourth connecting rod is slidingly connected with the third connecting rod, and the other end is rotationally connected with the fixed end of the third linear module.

[0015] In addition, the crawling mechanism according to the present application can further have the following additional technical features:

[0016] In some embodiments of the present application, the second linear module comprises a first driving member, a first screw rod guide and a first moving member, the first driving member is arranged on the movable end of the first linear module, the first screw rod guide is connected with the output end of the first driving member, the first moving member is movably connected with the first screw rod guide, and the first mounting frame is fixedly connected with the first moving member.

[0017] In some embodiments of the present application, the crawling mechanism further comprises a third mounting frame, the third mounting frame is fixedly connected with the first driving member, and the end of the second connecting rod away from the first connecting rod is rotationally connected with the third mounting frame.

[0018] In some embodiments of the present application, the third linear module comprises a second driving member, a second screw rod guide and a second moving member, the second driving member is arranged at the end of the rack away from the first linear module, the second screw rod guide is connected with the output end of the second driving member, the second moving member is movably connected with the second screw rod guide, and the second mounting frame is fixedly connected with the second moving member.

[0019] In some embodiments of the present application, the crawling mechanism further comprises a fourth mounting frame, the fourth mounting frame is fixedly connected with the second driving member, and the end of the fourth connecting rod away from the third connecting rod is rotationally connected with the fourth mounting frame.

[0020] In some embodiments of the present application, the crawling mechanism further comprises a guide member, the first mounting frame, the third mounting frame, the rack, the fourth mounting frame and the second mounting frame are movably sleeved on the guide member.

[0021] In some embodiments of the present application, the first connecting rod assembly and the second connecting rod assembly are both provided in plurality, the plurality of first connecting rod assemblies are arranged at intervals along the circumference of the first mounting frame, and the plurality of second connecting rod assemblies are arranged at intervals along the circumference of the second mounting frame.

[0022] In some embodiments of the present application, the end of the first connecting rod away from the first mounting frame is provided with a first pulley, and the end of the third connecting rod away from the second mounting frame is provided with a second pulley.

[0023] In a second aspect, the application also provides a welding robot comprising the crawling mechanism as described in any of the above embodiments.

[0024] In some embodiments of the application, the welding robot further comprises a welding device, a paint spraying device and a detection device, all of which are arranged on the rack.

[0025] Compared with the prior art, the application has the following advantages:

[0026] The crawling mechanism is provided in the application, in the initial state, the first linear module, the second linear module and the third linear module are all in the stretched state, the second linear module is stretched to make the first mounting frame away from the fixed end of the second linear module, so that the first connecting rod is kept in the open state under the support of the first mounting frame and the pulling back of the second connecting rod, thereby the first connecting rod keeps close contact with the workpiece to be welded to fix the relative position of the two. At the same time, the third linear module is stretched to make the second mounting frame away from the fixed end of the third linear module, so that the third connecting rod is kept in the open state under the support of the second mounting frame and the pulling back of the fourth connecting rod, thereby the third connecting rod keeps close contact with the workpiece to be welded to fix the relative position of the two. Further, the relative position of the crawling mechanism and the workpiece to be welded can be kept fixed to ensure the stability of the welding robot.

[0027] When it is needed to move, first, the second linear module is contracted to make the first mounting frame close to the fixed end of the second linear module, so that the first connecting rod is switched from the open state to the closed state under the pulling back of the first mounting frame and the support of the second connecting rod, thereby the first connecting rod is separated from the workpiece to be welded to enable the first connecting rod to move relative to the workpiece.

[0028] Then, the first linear module is contracted to drive the second linear module, the first mounting frame and the first connecting rod assembly as a whole to move towards the fixed end close to the first linear module, so that the second linear module, the first mounting frame and the first connecting rod assembly as a whole move a distance, and after the first linear module is contracted to the limit position, the second linear module is stretched to make the first mounting frame away from the fixed end of the second linear module, so that the first connecting rod is switched from the closed state to the open state under the support of the first mounting frame and the pulling back of the second connecting rod, thereby the first connecting rod keeps close contact with the workpiece to be welded to fix the relative position of the two.

[0029] Next, the third linear module is contracted to make the second mounting frame close to the fixed end of the third linear module, so that the third connecting rod is switched from the open state to the closed state under the pulling back of the second mounting frame and the support of the fourth connecting rod, thereby the third connecting rod is separated from the workpiece to be welded to enable the third connecting rod to move relative to the workpiece.

[0030] Finally, the first connecting rod and the to-be-welded piece are kept in close contact to fix the relative position of the two, and the third connecting rod is separated from the to-be-welded piece to enable the third connecting rod to move relative to the to-be-welded piece. The first linear module is stretched to drive the fixed end of the first linear module, the rack, the third linear module, the second mounting rack and the second connecting rod assembly as a whole to move away from the moving end of the first linear module, so that the fixed end of the first linear module, the rack, the third linear module, the second mounting rack and the second connecting rod assembly as a whole travel a distance. After the first linear module is stretched to the limit position, the third linear module is stretched to move the second mounting rack away from the fixed end of the third linear module, so that the third connecting rod is switched from the folded state to the unfolded state under the support of the second mounting rack and the pulling back of the fourth connecting rod, so that the third connecting rod is kept in close contact with the to-be-welded piece to fix the relative position of the two. Thus, the function of the whole crawling mechanism is realized. BRIEF DESCRIPTION OF DRAWINGS

[0031] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments. It should be understood that the following drawings only show some embodiments of the present application, and therefore should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can also be obtained without creative labor.

[0032] Figure 1 A perspective view of the crawling mechanism in some embodiments of the present application is shown;

[0033] Figure 2 Another perspective view of the crawling mechanism in some embodiments of the present application is shown;

[0034] Figure 3 A front view of the crawling mechanism in some embodiments of the present application is shown;

[0035] Figure 4 A perspective view of the welding robot in some embodiments of the present application is shown.

[0036] Main element symbol explanation:

[0037] 100 - crawling mechanism;

[0038] 110 - rack;

[0039] 120 - first linear module;

[0040] 130 - second linear module; 131 - first driving piece; 1311 - third mounting rack; 132 - first screw guide rail; 133 - first moving piece;

[0041] 140 - first mounting rack;

[0042] 150 - first linkage assembly; 151 - first link; 1511 - first pulley; 152 - second link;

[0043] 160 - third linear module; 161 - second driving member; 1611 - fourth mounting frame; 162 - second screw rod guide; 163 - second moving member;

[0044] 170 - second mounting frame;

[0045] 180 - second linkage assembly; 181 - third link; 1811 - second pulley; 182 - fourth link;

[0046] 190 - guiding member;

[0047] 1000 - welding robot; 200 - welding device; 300 - paint spraying device; 400 - detecting device. DETAILED DESCRIPTION

[0048] Embodiments of the present application are described below in detail with reference to the accompanying drawings, in which like or similar elements or features are denoted by the same or similar reference signs, and examples of the embodiments are described in detail. The embodiments described below are examples only, and are merely for the purpose of explaining the present application, and should not be construed in a limiting sense on the present application.

[0049] In the description of the present application, it should be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer", "clockwise", "counterclockwise", "axial", "radial", "circumferential" and the like indicate the orientation or positional relationship based on the orientation or positional relationship shown in the drawings, and are merely for the purpose of facilitating the description of the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore should not be construed as limiting the present application.

[0050] In addition, the terms "first", "second" are used only for descriptive purposes, and should not be construed as indicating or implying relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features defined with "first", "second" can explicitly or implicitly include one or more of the features. In the description of the present application, the meaning of "a plurality of" is two or more, unless otherwise specifically limited.

[0051] In the present application, unless specifically defined otherwise, the terms "mounting", "connected", "connecting", "fixed", and the like should be understood broadly, for example, can be fixedly connected, or can be detachably connected, or can be integrated; can be mechanically connected, or can be electrically connected; can be directly connected, or can be indirectly connected through an intermediate medium, or can be the internal communication of two elements or the interaction relationship between two elements. For those skilled in the art, the specific meanings of the above terms in the present application can be understood according to the specific circumstances.

[0052] In the present application, unless specifically defined otherwise, the first feature is "on" or "under" the second feature can be that the first and second features are in direct contact, or the first and second features are in indirect contact through an intermediate medium. Moreover, the first feature "above", "over" and "on" the second feature can be that the first feature is directly above or obliquely above the second feature, or only indicates that the horizontal height of the first feature is higher than that of the second feature. The first feature "below", "under" and "under" the second feature can be that the first feature is directly below or obliquely below the second feature, or only indicates that the horizontal height of the first feature is less than that of the second feature.

[0053] As shown in Figure 1 , the embodiment of the present application provides a crawling mechanism 100, which is mainly applied to a welding robot 1000. The crawling mechanism 100 comprises a rack 110, a first linear module 120, a second linear module 130, a first mounting frame 140, a first connecting rod assembly 150, a third linear module 160, a second mounting frame 170 and a second connecting rod assembly 180.

[0054] Referring to Figure 2 and Figure 3 , the first linear module 120 is arranged on the rack 110, the second linear module 130 is arranged on the movable end of the first linear module 120, and the first mounting frame 140 is arranged on the movable end of the second linear module 130. The first connecting rod assembly 150 comprises a first connecting rod 151 and a second connecting rod 152, the first connecting rod 151 is rotatably connected with the first mounting frame 140, one end of the second connecting rod 152 is slidably connected with the first connecting rod 151, and the other end is rotatably connected with the fixed end of the second linear module 130.

[0055] The third linear module 160 is arranged at one end of the rack 110 away from the first linear module 120, and the second mounting rack 170 is arranged on a movable end of the third linear module 160. The second connecting rod assembly 180 includes a third connecting rod 181 and a fourth connecting rod 182, the third connecting rod 181 is rotationally connected with the second mounting rack 170, one end of the fourth connecting rod 182 is slidingly connected with the third connecting rod 181, and the other end is rotationally connected with a fixed end of the third linear module 160.

[0056] The crawling mechanism 100 provided by the embodiment of the present application is in an initial state, in which the first linear module 120, the second linear module 130 and the third linear module 160 are all in an extended state. The extension of the second linear module 130 makes the first mounting rack 140 away from the fixed end of the second linear module 130, so that the first connecting rod 151 is kept in an open state under the support of the first mounting rack 140 and the pulling back of the second connecting rod 152, thereby making the first connecting rod 151 keep close contact with the workpiece to be welded to fix the relative position of the two. At the same time, the extension of the third linear module 160 makes the second mounting rack 170 away from the fixed end of the third linear module 160, so that the third connecting rod 181 is kept in an open state under the support of the second mounting rack 170 and the pulling back of the fourth connecting rod 182, thereby making the third connecting rod 181 keep close contact with the workpiece to be welded to fix the relative position of the two. Further, the relative position of the crawling mechanism 100 and the workpiece to be welded can be kept fixed to ensure the stability of the welding robot 1000.

[0057] When it is needed to move, first, the second linear module 130 is contracted to make the first mounting rack 140 close to the fixed end of the second linear module 130, so that the first connecting rod 151 is switched from the open state to the closed state under the pulling back of the first mounting rack 140 and the support of the second connecting rod 152, thereby making the first connecting rod 151 separate from the workpiece to be welded to enable the first connecting rod 151 to move relative to the workpiece to be welded.

[0058] Then, the first linear module 120 is contracted to drive the second linear module 130, the first mounting rack 140 and the first connecting rod assembly 150 as a whole to move towards the fixed end of the first linear module 120, so that the second linear module 130, the first mounting rack 140 and the first connecting rod assembly 150 as a whole move a distance, and after the first linear module 120 is contracted to the limit position, the second linear module 130 is extended to make the first mounting rack 140 away from the fixed end of the second linear module 130, so that the first connecting rod 151 is switched from the closed state to the open state under the support of the first mounting rack 140 and the pulling back of the second connecting rod 152, thereby making the first connecting rod 151 keep close contact with the workpiece to be welded to fix the relative position of the two.

[0059] Then, the third linear module 160 is contracted to make the second mounting frame 170 close to the fixed end of the third linear module 160, so that the third connecting rod 181 is switched from the open state to the folded state under the pulling of the fourth connecting rod 182 and the support of the second mounting frame 170, thereby making the third connecting rod 181 separate from the workpiece to be welded so that the third connecting rod 181 can move relative to the workpiece to be welded.

[0060] Finally, since the first connecting rod 151 keeps close contact with the workpiece to be welded to fix the relative position of the two, and the third connecting rod 181 separates from the workpiece to be welded to make the third connecting rod 181 move relative to the workpiece to be welded. The first linear module 120 is extended to drive the fixed end of the first linear module 120, the rack 110, the third linear module 160, the second mounting frame 170 and the second connecting rod assembly 180 as a whole to move away from the movable end of the first linear module 120, so that the fixed end of the first linear module 120, the rack 110, the third linear module 160, the second mounting frame 170 and the second connecting rod assembly 180 as a whole travel a distance, and after the first linear module 120 is extended to the limit position, the third linear module 160 is extended to make the second mounting frame 170 away from the fixed end of the third linear module 160, so that the third connecting rod 181 is switched from the folded state to the open state under the support of the second mounting frame 170 and the pulling of the fourth connecting rod 182, thereby making the third connecting rod 181 keep close contact with the workpiece to be welded to fix the relative position of the two. Thus, the function of the whole crawling mechanism 100 is realized.

[0061] For example, the first linear module 120 can be a pneumatic cylinder, a hydraulic cylinder or an electric screw rod, the second linear module 130 and the third linear module 160 can be electric screw rods, pneumatic cylinders or hydraulic cylinders, and the mode of each rotating connection can be hinged.

[0062] As shown in Figure 1 , Figure 2 and Figure 3 , in an embodiment of the present application, the second linear module 130 comprises a first driving member 131, a first screw guide 132 and a first moving member 133, the first driving member 131 is arranged on the movable end of the first linear module 120, the first screw guide 132 is connected with the output end of the first driving member 131, the first moving member 133 is movably connected with the first screw guide 132, and the first mounting frame 140 is fixedly connected with the first moving member 133.

[0063] In the embodiment, the first driving member 131 is arranged on the movable end of the first linear module 120, so that the second linear module 130, the first mounting frame 140 and the first linkage assembly 150 can move synchronously with the movable end of the first linear module 120, thereby achieving the function of the movement of the second linear module 130, the first mounting frame 140 and the first linkage assembly 150 as a whole.

[0064] Meanwhile, the first moving member 133 is movably connected to the first lead screw guide rail 132, and the first mounting frame 140 is fixedly connected to the first moving member 133, so that the first lead screw guide rail 132 is driven to rotate synchronously under the driving of the first driving member 131, thereby driving the first moving member 133 to move linearly along the first lead screw guide rail 132, and further driving the first mounting frame 140 to move linearly along the first lead screw guide rail 132. Thus, the switching between the open state and the closed state of the first linkage 151 is achieved.

[0065] For example, the first driving member 131 can be a servo motor, the first lead screw guide rail 132 is provided with an external thread, the first moving member 133 is provided with an internal thread hole matched with the external thread, the connection between the first lead screw guide rail 132 and the output end of the first driving member 131 can be a shaft coupling connection, a screw connection or an integral molding, and the first mounting frame 140 can be fixedly connected to the first moving member 133 by screwing, welding or integral molding.

[0066] As shown in Figure 1 , Figure 2 and Figure 3 , in the above embodiment, the crawling mechanism 100 further comprises a third mounting frame 1311 fixedly connected to the first driving member 131, and the second linkage 152 is rotatably connected to the third mounting frame 1311 at the end away from the first linkage 151.

[0067] In the embodiment, the third mounting frame 1311 is fixedly connected to the first driving member 131, and the second linkage 152 is rotatably connected to the third mounting frame 1311 at the end away from the first linkage 151, so that the second linkage 152 can rotate relative to the third mounting frame 1311 and the first driving member 131, thereby keeping the first linkage 151 in the open state under the support of the first mounting frame 140 and the pulling back of the second linkage 152 in the initial state, and switching the first linkage 151 from the open state to the closed state under the pulling back of the first mounting frame 140 and the support of the second linkage 152 during movement.

[0068] Exemplarily, the third mounting bracket 1311 can be fixedly connected to the fixed end of the first driving member 131 by screwing, welding or one-piece forming, and the second connecting rod 152 can be rotatably connected to the third mounting bracket 1311 by hinging.

[0069] As shown in Figure 1 , Figure 2 and Figure 3 , in the above embodiment of the present application, the third linear module 160 comprises a second driving member 161, a second screw rod guide 162 and a second moving member 163, the second driving member 161 is arranged at one end of the rack 110 away from the first linear module 120, the second screw rod guide 162 is connected to the output end of the second driving member 161, the second moving member 163 is movably connected to the second screw rod guide 162, and the second mounting bracket 170 is fixedly connected to the second moving member 163.

[0070] In the embodiment, by arranging the second driving member 161 at one end of the rack 110 away from the first linear module 120, the fixed end of the first linear module 120, the rack 110, the third linear module 160, the second mounting bracket 170 and the second connecting rod assembly 180 can move as a whole towards the end away from the first linear module 120, thereby realizing the function of the movement of the fixed end of the first linear module 120, the rack 110, the third linear module 160, the second mounting bracket 170 and the second connecting rod assembly 180 as a whole.

[0071] Meanwhile, by connecting the second screw rod guide 162 to the output end of the second driving member 161, movably connecting the second moving member 163 to the second screw rod guide 162, and fixedly connecting the second mounting bracket 170 to the second moving member 163, the second screw rod guide 162 can be driven to rotate synchronously under the driving action of the second driving member 161, thereby driving the second moving member 163 to move linearly along the second screw rod guide 162 reciprocatingly, and further driving the second mounting bracket 170 to move linearly along the second screw rod guide 162 reciprocatingly synchronously. Thus, the switching between the open state and the closed state of the third connecting rod 181 is realized.

[0072] Exemplarily, the second driving member 161 can be a servo motor, the second screw rod guide 162 is provided with external threads, the second moving member 163 is provided with internal thread holes matched with the external threads, the second screw rod guide 162 and the output end of the second driving member 161 can be connected by a shaft coupling, screwing or one-piece forming, and the second mounting bracket 170 can be fixedly connected to the second moving member 163 by screwing, welding or one-piece forming.

[0073] As shown in Figure 1 , Figure 2 andFigure 3 As shown in the above embodiments of the present application, the crawling mechanism 100 further comprises a fourth mounting frame 1611 fixedly connected to the second driving member 161, and the fourth connecting rod 182 is rotatably connected to the fourth mounting frame 1611 at an end away from the third connecting rod 181.

[0074] In the present embodiment, by fixing the fourth mounting frame 1611 to the second driving member 161 and rotatably connecting the fourth connecting rod 182 to the fourth mounting frame 1611 at an end away from the third connecting rod 181, the fourth connecting rod 182 can rotate relative to the fourth mounting frame 1611 and the second driving member 161, so that the third connecting rod 181 can be kept in the open state under the support of the second mounting frame 170 and the pulling back of the fourth connecting rod 182 in the initial state, and the third connecting rod 181 can be switched from the open state to the folded state under the pulling back of the second mounting frame 170 and the support of the fourth connecting rod 182 when moving.

[0075] For example, the fourth mounting frame 1611 can be fixedly connected to the fixed end of the second driving member 161 by screwing, welding or one-piece forming, and the fourth connecting rod 182 can be rotatably connected to the fourth mounting frame 1611 by hinging.

[0076] As shown in the above embodiments of the present application, the crawling mechanism 100 further comprises a fourth mounting frame 1611 fixedly connected to the second driving member 161, and the fourth connecting rod 182 is rotatably connected to the fourth mounting frame 1611 at an end away from the third connecting rod 181. Figure 1 、 Figure 2 and Figure 3 As shown in the above embodiments of the present application, the crawling mechanism 100 further comprises a fourth mounting frame 1611 fixedly connected to the second driving member 161, and the fourth connecting rod 182 is rotatably connected to the fourth mounting frame 1611 at an end away from the third connecting rod 181.

[0077] In the present embodiment, by fixing the fourth mounting frame 1611 to the second driving member 161 and rotatably connecting the fourth connecting rod 182 to the fourth mounting frame 1611 at an end away from the third connecting rod 181, the fourth connecting rod 182 can rotate relative to the fourth mounting frame 1611 and the second driving member 161, so that the third connecting rod 181 can be kept in the open state under the support of the second mounting frame 170 and the pulling back of the fourth connecting rod 182 in the initial state, and the third connecting rod 181 can be switched from the open state to the folded state under the pulling back of the second mounting frame 170 and the support of the fourth connecting rod 182 when moving.

[0078] As shown in the above embodiments of the present application, the crawling mechanism 100 further comprises a fourth mounting frame 1611 fixedly connected to the second driving member 161, and the fourth connecting rod 182 is rotatably connected to the fourth mounting frame 1611 at an end away from the third connecting rod 181. Figure 1 、 Figure 2 and Figure 3As shown, in any of the above embodiments of this application, there are multiple first link assemblies 150 and multiple second link assemblies 180. The multiple first link assemblies 150 are spaced apart along the circumference of the first mounting frame 140, and the multiple second link assemblies 180 are spaced apart along the circumference of the second mounting frame 170.

[0079] In this embodiment, by setting the number of both the first link assembly 150 and the second link assembly 180 to multiple, the multiple first link assemblies 150 are spaced apart along the circumference of the first mounting frame 140, and the multiple second link assemblies 180 are spaced apart along the circumference of the second mounting frame 170. This allows the multiple first links 151 to maintain close contact with the workpiece to be welded when the multiple first link assemblies 150 are opened, thus fixing their relative positions. Similarly, it allows the multiple second links 152 to maintain close contact with the workpiece to be welded when the multiple second link assemblies 180 are opened, thus fixing their relative positions. This ensures that the relative position between the crawling mechanism 100 and the workpiece to be welded remains fixed, effectively improving the working stability of the welding robot 1000.

[0080] like Figure 1 , Figure 2 and Figure 3 As shown, in any of the above embodiments of this application, the first connecting rod 151 is provided with a first pulley 1511 at the end away from the first mounting bracket 140, and the third connecting rod 181 is provided with a second pulley 1811 at the end away from the second mounting bracket 170.

[0081] In this embodiment, by providing a first pulley 1511 at the end of the first link 151 away from the first mounting bracket 140 and a second pulley 1811 at the end of the third link 181 away from the second mounting bracket 170, the friction between the first link 151 and the workpiece to be welded and the third link 181 and the workpiece to be welded are reduced during the movement, thereby improving the smoothness and stability of the crawling mechanism 100.

[0082] like Figure 4 As shown in the figure, this application embodiment also provides a welding robot 1000, including the crawling mechanism 100 described in the above embodiments.

[0083] The welding robot 1000 has the crawling mechanism 100 in any of the above embodiments, and therefore has all the beneficial effects of the crawling mechanism 100, which will not be described in detail here.

[0084] like Figure 4As shown in the above embodiments of the present application, the welding robot 1000 further comprises a welding device 200, a paint spraying device 300 and a detection device 400, which are all arranged on the rack 110.

[0085] In the present embodiment, the welding device 200 is arranged on the rack 110 to realize the function of the welding robot 1000 for welding repair of the workpiece to be welded. The paint spraying device 300 is arranged on the rack 110 to realize the function of the welding robot 1000 for paint spraying repair of the workpiece to be welded. The detection device 400 is arranged on the rack 110 to realize the function of the welding robot 1000 for detection of the welding and paint spraying quality. The detection device 400 can be an infrared thermal imager, for example.

[0086] In the description of the present specification, the description of the terms "one embodiment", "some embodiments", "an example", "a specific example" or "some examples" etc. means that the specific features, structures, materials or characteristics described in connection with the embodiment or example are contained in at least one embodiment or example of the present application. In the present specification, the illustrative description of the above terms does not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described can be combined in any appropriate manner in any one or more embodiments or examples. In addition, the different embodiments or examples described in the present specification and the features of the different embodiments or examples can be combined and combined by those skilled in the art without contradiction.

[0087] Although the embodiments of the present application have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present application, and those skilled in the art can make changes, modifications, replacements and variations to the above embodiments within the scope of the present application.

Claims

1. A crawling mechanism, characterized in that, include: frame; The first linear module is mounted on the frame; The second linear module is disposed on the movable end of the first linear module; The first mounting bracket is disposed on the movable end of the second linear module; The first linkage assembly includes a first linkage and a second linkage. The first linkage is rotatably connected to the first mounting bracket, and one end of the second linkage is slidably connected to the first linkage, while the other end is rotatably connected to the fixed end of the second linear module. The third linear module is disposed at one end of the frame away from the first linear module; The second mounting bracket is disposed on the movable end of the third linear module; The second linkage assembly includes a third linkage and a fourth linkage. The third linkage is rotatably connected to the second mounting bracket. One end of the fourth linkage is slidably connected to the third linkage, and the other end is rotatably connected to the fixed end of the third linear module.

2. The crawling mechanism according to claim 1, characterized in that, The second linear module includes a first driving component, a first lead screw guide rail, and a first moving component. The first driving component is disposed on the movable end of the first linear module. The first lead screw guide rail is connected to the output end of the first driving component. The first moving component is movably connected to the first lead screw guide rail. The first mounting bracket is fixedly connected to the first moving component.

3. The crawling mechanism according to claim 2, characterized in that, The crawling mechanism further includes a third mounting bracket, which is fixedly connected to the first driving member, and the end of the second link away from the first link is rotatably connected to the third mounting bracket.

4. The crawling mechanism according to claim 3, characterized in that, The third linear module includes a second driving component, a second lead screw guide rail, and a second moving component. The second driving component is disposed at one end of the frame away from the first linear module. The second lead screw guide rail is connected to the output end of the second driving component. The second moving component is movably connected to the second lead screw guide rail. The second mounting bracket is fixedly connected to the second moving component.

5. The crawling mechanism according to claim 4, characterized in that, The crawling mechanism further includes a fourth mounting bracket, which is fixedly connected to the second driving member, and the end of the fourth link away from the third link is rotatably connected to the fourth mounting bracket.

6. The crawling mechanism according to claim 5, characterized in that, The crawling mechanism further includes a guide, and the first mounting bracket, the third mounting bracket, the frame, the fourth mounting bracket and the second mounting bracket are all movably mounted on the guide.

7. The crawling mechanism according to any one of claims 1 to 6, characterized in that, Multiple first link assemblies and multiple second link assemblies are provided. Multiple first link assemblies are arranged at intervals along the circumference of the first mounting frame, and multiple second link assemblies are arranged at intervals along the circumference of the second mounting frame.

8. The crawling mechanism according to any one of claims 1 to 6, characterized in that, The first connecting rod has a first pulley at the end away from the first mounting bracket, and the third connecting rod has a second pulley at the end away from the second mounting bracket.

9. A welding robot, characterized in that, Includes the crawling mechanism according to any one of claims 1 to 8.

10. The welding robot according to claim 9, characterized in that, The welding robot also includes a welding device, a painting device, and an inspection device, all of which are mounted on the frame.

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