阅读说明：本技术 一种具有探伤功能的质检机器人 (Quality inspection robot with flaw detection function ) 是由 王勇 荣根益 尚宇新 孙栾 于 2021-07-05 设计创作，主要内容包括：本发明涉及一种具有探伤功能的质检机器人,属于自动化技术领域,该具有探伤功能的质检机器人,包括第二安装组件、位移机构和定位组件,位移机构对称设于第二安装组件的两侧,位移机构设有行星轮组件、升降组件和电磁铁组件,设于单个星轮外侧的升降机构控制电磁铁组件升降,电磁铁组件吸附在金属工件表面使行星轮组件围绕其星轮旋转,定位组件套接于第二安装组件外侧且外设镜头组用于观察工件表面,定位组件弹性接触于光滑表面。该具有探伤功能的质检机器人用于对已安装好的大型工件进行检查裂痕和工件内部之间的安装状况,无需拆卸,通过电磁铁组件吸附于金属工件表面,用以检测不同安装角度的工件,实现在工件背面的行走。(The invention relates to a quality inspection robot with a flaw detection function, which belongs to the technical field of automation and comprises a second mounting assembly, a displacement mechanism and a positioning assembly, wherein the displacement mechanism is symmetrically arranged at two sides of the second mounting assembly, the displacement mechanism is provided with a planet wheel assembly, a lifting assembly and an electromagnet assembly, the lifting mechanism arranged at the outer side of a single star wheel controls the electromagnet assembly to lift, the electromagnet assembly is adsorbed on the surface of a metal workpiece to enable the planet wheel assembly to rotate around the star wheel, the positioning assembly is sleeved at the outer side of the second mounting assembly, an external lens group is used for observing the surface of the workpiece, and the positioning assembly is elastically contacted with a smooth surface. The quality inspection robot with the flaw detection function is used for inspecting the installation condition between a crack and the inside of a workpiece on the installed large workpiece, does not need to be disassembled, is adsorbed on the surface of a metal workpiece through an electromagnet assembly, is used for detecting workpieces with different installation angles, and realizes walking on the back of the workpiece.)

1. A quality inspection robot having a flaw detection function, comprising:

the second mounting assembly is internally provided with a power source for providing advancing power for the robot, and an output shaft and a positioning shaft are arranged in the second mounting assembly;

the two sets of displacement mechanisms are symmetrically arranged on two sides of the second mounting assembly and synchronously run, each displacement mechanism is also provided with a planetary wheel assembly, a lifting assembly and an electromagnet assembly, a single planetary wheel assembly is arranged on one side of the second mounting assembly and alternately rotates by taking two star wheels in the planetary wheel assembly as circle centers, so that the robot is controlled to step, the single stepping numerical value is the numerical value of the center distance of the two star wheels, and the lifting mechanism arranged on the outer side of the single star wheel controls the electromagnet assembly to lift and is used for adsorbing the surface of a workpiece to enable the planetary wheel assembly to rotate around the star wheels;

and the positioning assembly is sleeved on the outer side of the second mounting assembly and is externally provided with a lens group for observing the surface of the workpiece.

2. The quality inspection robot having an inspection function according to claim 1, wherein one of the planetary wheel assemblies includes:

the sun gear is connected to the output shaft and is a power wheel of the planetary wheel assembly;

the second mounting assembly fixes the relative spatial position of the sun wheel and the outer ring wheel through the output shaft and the positioning shaft, so that the outer ring wheel and the second mounting assembly synchronously rotate;

the two star wheels are respectively arranged on two sides of the sun wheel and are simultaneously meshed with the sun wheel and the outer ring wheel, the diameter of the two star wheels is one half of that of the sun wheel, so that one rotation period of the star wheels is one half of that of the sun wheel, and the circle centers of the two star wheels and the sun wheel are positioned on the same straight line.

3. The quality inspection robot with the flaw detection function according to claim 2, wherein the planet wheel assembly is further provided with a first mounting assembly for controlling a spatial relationship between internal gears of the planet wheel assembly, two first mounting assemblies fixedly mounted outside the rotation centers of the two star wheels are respectively arranged along two ends of the planet wheel assembly, the two ends of the planet wheel assembly are respectively connected to two first connecting rods of the first mounting assemblies, the first mounting assemblies are rotatably connected with the first connecting rods and used for assisting the two star wheels to rotate around the sun to prevent jamming, one end of each star wheel is rotatably arranged on a second connecting rod of the first mounting assembly, the other end of each second connecting rod is provided with a roller for sliding along a track on the outer ring wheel, so that the star wheels move in the outer ring wheel, and tracks are arranged on two sides of the outer ring wheel.

4. The quality inspection robot with an inspection function according to claim 3, wherein the first mounting member is provided with a lifting assembly, the lifting component is used for controlling the electromagnet component to lift when the star wheel rotates around the sun wheel, so that the star wheel rotates to a preset position, the lifting component is vertical to the surface of the workpiece, the lifting component controls the electromagnet component to abut against the surface of the workpiece and controls the electromagnet to be electrified, the electro-magnet adsorbs the work piece surface, another the star gear centers on when the sun gear was rotatory, lifting unit control the electro-magnet subassembly is toward this star gear center of rotation is marchd, makes another is kept away from to the end of electro-magnet subassembly on the star gear first installed part prevents when the electro-magnet subassembly is rotatory with another on the star gear first installed part card is dead.

5. The quality inspection robot having an inspection function according to claim 1, wherein the second mounting assembly includes:

the two opposite side surfaces of the shell are arc-shaped surfaces and are sleeved in a circular connecting piece, the circular connecting piece assists the shell to rotate in the positioning assembly, and the shell penetrates through three through holes parallel to the arc-shaped surfaces;

the output shaft penetrates through the middle through hole of the shell, is connected with a power source through gear transmission and freely rotates relative to the shell;

and the two positioning shafts respectively penetrate through the other two through holes of the shell and are parallel to the output shaft, and the two ends of each positioning shaft are respectively connected with the two outer ring wheels and are used for synchronizing the advancing of the two sets of displacement mechanisms.

6. The quality inspection robot having an inspection function according to claim 1, wherein the positioning mechanism includes:

the hollow cylinder is sleeved on the outer side of the shell, so that the shell and the hollow cylinder form a cylindrical curved surface which is used for rolling along with the robot when the robot moves;

the bearing is sleeved outside the hollow cylinder, the hollow cylinder is enabled to freely rotate relative to the positioning block through the bearing, and the second mounting assembly is enabled to freely rotate in the positioning block;

the two transverse shafts are symmetrically arranged on the side surfaces of the bearing along the circle center of the bearing;

two supporting legss are located for the elastic component on the cross axle and slide at the work piece surface, with electromagnet assembly adsorbs the smooth surface of work piece and forms stable face structure, one of them supporting legs with cross axle swivelling joint, another supporting legs bottom position is equipped with the lens group, the lens group is relative work piece surface height when the robot is marchd, can observe the work piece surface condition.

7. The quality inspection robot with the flaw detection function according to claim 6, wherein a rotating table is further provided at the bottom of the bearing, and another set of the lifting assembly and the electromagnet assembly is further provided on the rotating table, and the arrangement is used for adjusting the traveling direction of the robot.

Technical Field

The invention relates to a quality inspection robot with a flaw detection function, and belongs to the technical field of automation.

Background

In the long-time work of some large-scale machines, some large-scale metal workpieces with smooth and flat surfaces may have cracks or wear more than expected, the assembly conditions among the workpieces also need to be checked and checked by engineers in time after long-time operation, in the daily quality inspection process, the design and specification of the large-scale machines are referred to, once the large-scale machines are disassembled and checked for the wear degree or whether cracks exist, the workload is complex, and meanwhile, the matching problem in the installation of the large-scale machines cannot be checked.

Disclosure of Invention

The invention provides a spraying robot and a spraying method based on vision, aiming at solving the technical problems in the background technology. The surface of a large metal workpiece is detected in a flaw detection mode under the condition that the original workpiece is not detached, meanwhile, the assembly between the workpieces is often in a deep position and is usually difficult to view, and the miniature flaw detection robot moves to the workpiece assembly position to observe the installation state between the workpieces.

The invention is realized by adopting the following technical scheme: a quality inspection robot having a flaw detection function, comprising:

the second mounting assembly is internally provided with a power source for providing advancing power for the robot, and an output shaft and a positioning shaft are arranged in the second mounting assembly;

two sets of displacement mechanism, the symmetry is located the both sides and the synchronous operation of second installation component, displacement mechanism still is equipped with planet wheel subassembly, lift subassembly and electromagnet assembly, and is single the planet wheel subassembly is located second installation component one side and uses its inside two star gears as the centre of a circle rotation in turn to control robot is step-by-step, and the step-by-step numerical value of single is the numerical value of the centre-to-centre spacing of two star gears promptly, locates the single star gear outside the elevating system control electromagnet assembly goes up and down for the surface messenger that adsorbs the work piece the planet wheel subassembly is rotatory around its star gear.

Through adopting above-mentioned technical scheme, two sets of displacement mechanism synchronous operation for the stability of control robot marching in-process, the planet wheel subassembly uses two star gears inside it as the centre of a circle rotation in turn, and the second installation component rolls formula and marches, and at the robot marchs the in-process promptly, keeps a set of electro-magnet subassembly circular telegram all the time and adsorbs in the work piece surface, makes under the circumstances that the sun gear continues the rotation at the output shaft, and the sun gear is rotatory around static star gear, thereby realizes that the robot is step-by-step.

And the positioning assembly is sleeved on the outer side of the second mounting assembly and is externally provided with a lens group for observing the surface of the workpiece.

In a further embodiment, one of the planet wheel assemblies comprises:

the sun gear is connected to the output shaft and is a power wheel of the planetary wheel assembly;

the second mounting assembly fixes the relative spatial position of the sun wheel and the outer ring wheel through the output shaft and the positioning shaft, so that the outer ring wheel and the second mounting assembly synchronously rotate;

the two star wheels are respectively arranged on two sides of the sun wheel and are simultaneously meshed with the sun wheel and the outer ring wheel, the diameter of the two star wheels is one half of that of the sun wheel, so that one rotation period of the star wheels is one half of that of the sun wheel, and the circle centers of the two star wheels and the sun wheel are positioned on the same straight line.

Through adopting above-mentioned technical scheme, in the motion process, it is static through one of them star gear of temporary fixation, and the power supply provides power for the sun gear all the time, can use this static star gear to realize this planet wheel subassembly and rotate as the centre of a circle to this basis, realizes stepping of robot through the break-make electricity of electro-magnet subassembly.

In a further embodiment, the planet wheel assembly is further provided with a first mounting assembly for controlling the spatial relationship between the internal gears of the planet wheel assembly, two first mounting parts are fixedly mounted outside the rotation center of the two star wheels respectively, two ends of the first mounting parts are connected to two connecting rods of the first mounting parts respectively, the first mounting parts are in rotary connection with the connecting rods and used for assisting the two star wheels to rotate around the sun to prevent jamming, one end of the first mounting part is rotatably arranged on a second connecting rod of the first mounting part, the other end of the second connecting rod is provided with a roller wheel used for sliding along a track on the outer ring wheel, so that the star wheels move in the outer ring wheel, and two sides of the outer ring wheel are provided with tracks.

Through adopting above-mentioned technical scheme, the star gear is rotatory around sun gear rotation half week, and a rotation cycle is accomplished to the star gear, and two star gears are located sun gear both sides and are in same straight line with the sun gear centre of a circle promptly, and two star gears are around being that the sun gear is rotatory, and the centre of a circle of three is in same straight line all the time in the motion.

In a further embodiment, a lifting assembly is arranged on the first installation part and used for controlling the electromagnet assembly to lift and lower when the star wheel rotates around the sun wheel, so that the star wheel rotates to a preset position, the lifting assembly is perpendicular to the surface of a workpiece, the lifting assembly controls the electromagnet assembly to abut against the surface of the workpiece, the electromagnet is controlled to be electrified, the electromagnet adsorbs the surface of the workpiece, and when the star wheel rotates around the sun wheel, the lifting assembly controls the electromagnet assembly to move towards the rotation center of the star wheel, so that the tail end of the electromagnet assembly is far away from the other first installation part on the star wheel, and the electromagnet assembly is prevented from being blocked with the other first installation part on the star wheel during rotation.

Through adopting above-mentioned technical scheme, prevent that the star gear is at rotatory in-process, the dead card of first installed part card on the electro-magnet subassembly when rotatory with another star gear dies, two star gears are rotatory around the sun gear simultaneously and reduce the frictional force when rotatory, for the position of fixed two star gears, are equipped with the gyro wheel through the one end of second connecting rod for the track of card on the outer lane takes turns to slide, thereby makes the star gear at the inner motion of outer lane.

In a further embodiment, the second mounting assembly comprises:

the two opposite side surfaces of the shell are arc-shaped surfaces and are sleeved in a circular connecting piece, the circular connecting piece assists the shell to rotate in the positioning assembly, and the shell penetrates through three through holes parallel to the arc-shaped surfaces;

the output shaft penetrates through the middle through hole of the shell, is connected with a power source through gear transmission and freely rotates relative to the shell;

and the two positioning shafts respectively penetrate through the other two through holes of the shell and are parallel to the output shaft, and the two ends of each positioning shaft are respectively connected with the two outer ring wheels and are used for synchronizing the advancing of the two sets of displacement mechanisms.

By adopting the technical scheme, the two planet wheel assemblies move synchronously, the output shaft drives the sun wheels at the two ends to rotate, the sun wheels drive the respective meshed planet wheels to rotate synchronously, the outer ring wheel rotates synchronously therewith, and the two planet wheel assemblies are synchronous at the moment.

In a further embodiment, the positioning mechanism comprises:

the hollow cylinder is sleeved on the outer side of the shell, so that the shell and the hollow cylinder form a cylindrical curved surface which is used for rolling along with the robot when the robot moves;

the bearing is sleeved outside the hollow cylinder, the hollow cylinder is enabled to freely rotate relative to the positioning block through the bearing, and the second mounting assembly is enabled to freely rotate in the positioning block;

the two transverse shafts are symmetrically arranged on the side surfaces of the bearing along the circle center of the bearing;

two supporting legss are located for the elastic component on the cross axle and slide at the work piece surface, with electromagnet assembly adsorbs the smooth surface of work piece and forms stable face structure, one of them supporting legs with cross axle swivelling joint, another supporting legs bottom position is equipped with the lens group, the lens group is relative work piece surface height when the robot is marchd, can observe the work piece surface condition.

Through adopting above-mentioned technical scheme, displacement mechanism continues to advance, accomplishes a rotation cycle at the star gear after, and lifting unit control electromagnet assembly supports to the work piece surface and adsorbs, so reciprocal, realizes stepping-by-step of robot.

In a further embodiment, a rotating table is further arranged at the bottom of the bearing, another group of the lifting assembly and the electromagnet assembly are further arranged on the rotating table, and the arrangement is used for adjusting the traveling direction of the robot.

Through adopting above-mentioned technical scheme, set up the advancing direction who is used for adjusting the robot, when the robot need deflect, this lifting unit of control makes electromagnet assembly adsorb in the work piece surface, breaks off other electromagnet assembly's power, and rotary robot to predetermined angle, other electromagnet assembly adsorb again in the work piece surface, and the electromagnetism assembly outage on the revolving stage, lifting unit control it rises to initial position to the completion turns to the robot.

The invention has the beneficial effects that: the device is used for checking the installation condition between the crack and the inside of the installed large metal workpiece without disassembly; adsorb in the work piece surface through the electro-magnet subassembly, can detect the work piece of different installation angles, realize the walking at the back of work piece even.

Drawings

Fig. 1 is a schematic view of the overall structure of the present invention.

Fig. 2 is a partial structural schematic diagram of the moving mechanism of the present invention.

Fig. 3 is a schematic view of a first mounting assembly of the present invention.

Fig. 4 is a partial schematic view of a first mounting assembly of the present invention.

Fig. 5 is a schematic structural diagram of the positioning mechanism of the present invention.

Reference numerals: the displacement mechanism 1, the planet wheel assembly 11, the planet wheel 112, the sun wheel 113, the outer ring wheel 114, the first mounting assembly 12, the first mounting part 121, the first connecting rod 122, the second connecting rod 123, the roller 124, the track 125, the lifting assembly 13, the electromagnet assembly 14, the second mounting assembly 15, the positioning shaft 151, the output shaft 152, the housing 153, the positioning mechanism 2, the hollow cylinder 21, the bearing 22, the supporting leg 23, the rotating platform 24, the transverse shaft 25 and the lens group 3.

Detailed Description

In the following description, numerous specific details are set forth in order to provide a more thorough understanding of the present invention. It will be apparent, however, to one skilled in the art, that the present invention may be practiced without one or more of these details; in other instances, well-known features have not been described in order to avoid obscuring the invention. In large-scale machinery, schedule maintenance needs to be carried out on parts of the large-scale machinery, for some metal workpieces needing surface cracks to be detected, the installation and the disassembly are troublesome, meanwhile, the condition during the assembly of the large-scale machinery cannot be detected, the surface of the large-scale workpieces is subjected to flaw detection in the state that the original workpieces are not disassembled, meanwhile, the assembly and the assembly among the workpieces are often arranged at the inner part, the observation space is small, the observation space is difficult to view, if the large-scale machinery is disassembled, the assembly condition during the working of the large-scale machinery can be damaged, inaccurate conclusion can be obtained, and therefore the large-scale machinery can crawl to the inner part of the workpieces to the assembly position through the flaw detection robot, and the installation state among the workpieces can be observed.

The robot integral device is provided with small or micro fittings which move at low speed, and can support combined equipment with enough mass by using materials with smaller volume under the high-strength rigid condition of the materials under the support of the existing high-strength material technology.

In a further embodiment, a power source is installed inside the second installation component 15, the power source transmits power to the output shaft 152 through gear transmission, the positioning shaft 151 is connected with the outer shell 153 of the second installation component 15 and the outer ring wheel 114, that is, the turning path of the outer ring wheel 114 is synchronous with the second installation component 15, two sets of displacement mechanisms 1 are symmetrically arranged on two sides of the second installation component 15 and synchronously operate to control the stability of the robot in the process of traveling, the two sets of displacement mechanisms 1 are respectively connected with two ends of the output shaft 152 and the positioning shaft 151, the displacement mechanism 1 is provided with a planetary wheel assembly 11, a lifting assembly 13 and an electromagnet assembly 14, one set of electromagnet assembly 14 is adsorbed on the surface of a workpiece, wherein the positions of the planetary wheels 112 in the two planetary wheel assemblies are adjusted to be synchronous, a single planetary wheel assembly 11 is arranged on one side of the second installation component 15 and alternately rotates around the two planetary wheels 112 in the second installation component as the circle center, the second mounting assembly 15 is made to travel in a rolling mode, that is, in the traveling process of the robot, one set of electromagnet assemblies 14 is always powered on and adsorbed on the surface of a workpiece, under the condition that the output shaft 152 enables the sun wheel 113 to continue rotating, the sun wheel 113 rotates around the static star wheel 112, so that the robot is stepped, the single-step numerical value is the numerical value of the center distance between the two star wheels 112, that is, when one set of electromagnet assemblies 14 rotates to be vertical to the smooth surface of the workpiece, the lifting assembly 13 controls the electromagnet assemblies 14 to abut against the surface of the workpiece and adsorb on the surface of the workpiece, at the moment, the star wheel 112 connected with the electromagnet assemblies 14 keeps static, when the sun wheel 113 is still powered, the sun wheel 113 rotates along the star wheel 112, the other star wheel 112 and the outer ring wheel 114 rotate along with the sun wheel 112, and the electromagnet assemblies 14 on the other set of the two star wheels 112 are powered off and leave the surface of the workpiece, the lifting assembly 13 enables the electromagnet assembly 14 to move towards the rotation center of the star wheel 112, so that when the electromagnet assembly 14 is prevented from rotating, the electromagnet assembly is locked with a mounting part on the other star wheel 112, the positioning assembly is sleeved outside the second mounting assembly 15 and does not rotate along with the rotation of the second mounting assembly 15, the positioning assembly is always kept in a balanced state, the lens group 3 is arranged at one supporting leg 23 in the advancing direction of the positioning assembly and used for observing the surface of a workpiece, the two supporting legs 23 are arranged in the front and at the back of the positioning assembly along the advancing direction of the robot, a surface structure is formed by the electromagnet assembly 14 adsorbed on the surface of the workpiece, and the positioning assembly corresponds to the surface of the workpiece and assists the robot to advance on the smooth surface of the workpiece.

Further, power source output power finally reaches sun gear 113, namely, the motor is connected with the speed reducer to reduce speed, control output speed, the speed reducer drives output shaft 152 to rotate through gear transmission, output shaft 152 drives sun gear 113 to rotate, in this structural design, the motor is fixedly arranged in housing 153, housing 153 and outer ring wheel 114 rotate synchronously, free rotation between output shaft 152 and housing 153, there is the motor to rotate along with housing 153, namely, in the motion process, through temporarily fixing one of the star wheels 112 stationary, the power source provides power for sun gear 113 all the time, can realize that this planet wheel subassembly 11 uses this stationary star wheel 112 as the centre of a circle rotation, on this basis, realize the step-by-step of robot through the on-off electricity of electromagnet assembly 14.

Based on the above mechanism, there is a problem how to control the moving tracks of the star wheels 112 so that the two groups of star wheels 112 alternately control the electromagnet assemblies 14 to be adsorbed on the surface of the workpiece through the lifting assembly 13, and therefore, in order to solve this problem, in a further embodiment, the sun wheel 113 in the planet wheel assembly 11 is connected to the output shaft 152, the sun wheel 113 is the power wheel of the planet wheel assembly 11, the outer ring wheel 114 is coincident with the center of the sun wheel 113, the outer ring wheel 114 is connected to the housing 153 of the second mounting assembly 15 through two positioning shafts 151, that is, the second mounting assembly 15 fixes the relative spatial positions of the sun wheel 113 and the outer ring wheel 114 through the positioning shafts 151, the second mounting assembly 15 makes the sun wheel 113 drive the whole planet wheel assembly 11 to rotate through the output shaft 152 as the power wheel, the two star wheels 112 are arranged between the sun wheel 113 and the outer ring wheel 114, and engaged with the sun wheel 113 and the outer ring wheel 114 at the same time, and the diameter of the two star wheels 112 is one-half of the diameter of the sun wheel 113, that is, the star wheel 112 rotates half a revolution around the sun wheel 113, the star wheel 112 completes one revolution period, the two star wheels 112 are arranged on both sides of the sun wheel 113 and are in the same straight line with the circle center of the sun wheel 113, that is, the two star wheels 112 rotate around the sun wheel 113, and the circle centers of the three are in the same straight line all the time during the movement.

Based on the above mechanism, there are cases that the star wheel 112 is jammed or friction force is large and difficult to rotate around the sun wheel 113, thereby causing the sun wheel 113 to need larger power or the sun wheel 113 cannot rotate, causing the power source to generate heat and damage, therefore, in order to solve this problem, in a further embodiment, a first installation component 12 is provided, two first installation components 12 are respectively fixedly installed at the rotation centers of two star wheels 112 in a single planet wheel assembly 11 for installing the lifting component 13, meanwhile, a first connecting rod 122 is provided between the two first installation components 12, both ends of the first connecting rod 122 are sleeved on the two first installation components 12, the distance between the two star wheels 112 is controlled, so that the two star wheels 112 rotate around the sun wheel 113 and the friction force during rotation is reduced, in order to fix the positions of the two star wheels 112, a roller 124 is provided through one end of the second connecting rod 123, the rails 125 for catching on the outer ring wheel 114 slide, thereby moving the star wheel 112 within the outer ring wheel 114.

Based on the above mechanism, there are two planet wheel assemblies 11 that are difficult to move synchronously, so that each set of electromagnet assemblies 14 cannot adsorb the surface of the workpiece synchronously, and the robot walks unstably, therefore, to solve this problem, in a further embodiment, a second mounting assembly 15 is provided to connect the two planet wheel assemblies 11, wherein two opposite sides of a housing 153 of the second mounting assembly 15 are arc-shaped surfaces and are sleeved in a circular connecting piece, the second mounting assembly 15 is assisted to rotate in a positioning assembly, the housing 153 penetrates through three through holes parallel to the arc-shaped surfaces, an output shaft 152 is installed in the middle through hole, positioning shafts 151 are installed in the through holes at two sides, both the output shaft 152 and the positioning shafts 151 can freely rotate in the housing 153, both ends of the positioning shafts 151 are connected to the outer ring wheels 114 of the two planet wheel assemblies 11, that is, the rolling paths of the two outer ring wheels 114 are consistent with the rolling path of the housing 153, the initial positions of the two star wheels 112 meshed with the outer ring wheel 114 are controlled to be consistent, at the moment, the two planet wheel assemblies 11 move synchronously, the output shaft 152 drives the sun wheels 113 at the two ends to rotate, the sun wheels 113 drive the respective meshed star wheels 112 to rotate synchronously, the outer ring wheel 114 rotates synchronously, and at the moment, the two planet wheel assemblies 11 are synchronous.

Based on the above mechanism, when the star wheel 112 rotates around the sun, if the lifting assembly 13 is not used and the electromagnet assembly 14 is directly installed, the electromagnet assembly 14 is easy to block the first installation part 12 on the other star wheel 112 when the star wheel 112 rotates, so that the planet wheel assembly 11 is locked, in order to solve the problem, in a further embodiment, the lifting assembly 13 is used for lifting, when one set of electromagnet assemblies 14 adsorbs the workpiece surface, and when the other set of electromagnet assemblies 14 rotates, the tail end of the electromagnet assembly 14 is controlled to be far away from the other first installation part 12, so that the displacement mechanism 1 continues to advance, and after the star wheel 112 completes one rotation cycle, the lifting assembly 13 controls the electromagnet assembly 14 to abut against the workpiece surface for adsorption, and the reciprocating is performed, so that the robot can advance.

Based on the above mechanism, there is a movement mode of the star wheel 112 assembly that rotates 180 degrees along the centers of the two star wheels 112 alternately, that is, the second mounting assembly 15 is in a rolling state during the actual moving of the robot, and when the lens group 3 is disposed on the second mounting assembly 15, the lens group 3 is in an unstable state, which results in inconvenient observation, therefore, in order to solve this problem, in a further embodiment, the positioning mechanism 2 is used to control the lens group 3 to be in a linear movement state relative to the workpiece surface, the hollow cylinder 21 is sleeved outside the housing 153, so that the housing 153 and the hollow cylinder 21 form a cylindrical curved surface, the hollow cylinder 21 is sleeved outside the bearing 22, the bearing 22 moves up and down on a vertical line relative to the workpiece surface during the moving of the robot, the lateral shafts 25 on both sides of the bearing 22 are respectively provided with an elastic support leg 23, the support legs 23 slide on the workpiece surface, the lower half part of a supporting leg 23 in the advancing direction of the robot is provided with a lens group 3 relative to a static position, so that the linear motion of the lens group 3 can be controlled, the other supporting leg 23 is rotatably arranged on the other transverse shaft 25, in order to prevent the robot from being stuck in the advancing process, the bottom of a bearing 22 is also provided with a rotating platform 24, the rotating platform 24 is also provided with another group of lifting components 13 and electromagnet components 14, the arrangement is used for adjusting the advancing direction of the robot, when the robot needs to deflect, the lifting components 13 are controlled to enable the electromagnet components 14 to be adsorbed on the surface of a workpiece, the power supply of the other electromagnet components 14 is disconnected, the robot is rotated to a preset angle, the other electromagnet components 14 are adsorbed on the surface of the workpiece again, the electromagnet components on the rotating platform 24 are powered off, and the lifting components 13 are controlled to ascend to an initial position, so that the robot is turned.

The preferred embodiments of the present invention have been described in detail with reference to the accompanying drawings, however, the present invention is not limited to the specific details of the embodiments, and various equivalent changes can be made to the technical solution of the present invention within the technical idea of the present invention, and these equivalent changes are within the protection scope of the present invention.