CN117733912A - Steel construction detection robot - Google Patents

Abstract

The invention discloses a steel structure detection robot which comprises a machine base, a movement device, a detector, a counterweight structure and a linkage mechanism. The movement device is arranged on the machine base; the detector is arranged on the movement device, and the movement device is used for driving the detector to move close to or away from the base; the counterweight structure is movably arranged on the stand along the horizontal direction and can be close to or far away from the stand; the linkage mechanism is arranged between the detector and the counterweight structure, the counterweight structure is linked to be close to the base through the linkage mechanism when the detector is close to the base, and the counterweight structure is linked to be far away from the base through the linkage mechanism when the detector is far away from the base. When the motion device drives the detector to move close to the base, the detector drives the counterweight structure to move close to the base through the linkage mechanism, so that the gravity center of the steel structure detection robot is relatively stable and does not deviate, and the risk of toppling of the steel structure detection robot can be reduced.

Description

Steel construction detection robot

Technical Field

The invention relates to the field of steel structure detection, in particular to a steel structure detection robot.

Background

The existing steel structure detection robot comprises a machine base, a moving device and a detector, wherein the moving device is arranged on the machine base, the detector is arranged on the moving device, and the moving device can drive the detector to perform three-dimensional movement, so that the detector is close to a steel structure to be detected for detection, for example, the detector adopts two piezoelectric ceramic sensors to be respectively stuck to a bolt and a nearby fastener, and therefore whether the bolt is loose or not can be detected. However, in the steel structure detection robot with the structure, the steel structure detection robot may topple over in the process that the movement device drives the detector to move, so that the normal use of the steel structure detection robot is affected, and even the steel structure detection robot is damaged.

Disclosure of Invention

The present invention aims to solve at least one of the technical problems existing in the prior art. Therefore, the invention provides the steel structure detection robot, which can reduce the risk of toppling.

The steel structure detection robot comprises a machine base, a movement device, a detector, a counterweight structure and a linkage mechanism. The movement device is arranged on the base; the detector is arranged on the movement device, and the movement device is used for driving the detector to move close to or far away from the base; the counterweight structure is movably arranged on the stand along the horizontal direction and can be close to or far away from the stand; the linkage mechanism is arranged between the detector and the counterweight structure, the counterweight structure is linked to be close to the base through the linkage mechanism when the detector is close to the base, and the counterweight structure is linked to be far away from the base through the linkage mechanism when the detector is far away from the base.

The steel structure detection robot provided by the embodiment of the invention has at least the following beneficial effects: in the operation process of the steel structure detection robot, when the moving device drives the detector to move away from the base, the detector drives the counterweight structure to move away from the base through the linkage mechanism, when the moving device drives the detector to move close to the base, the detector drives the counterweight structure to move close to the base through the linkage mechanism, so that the gravity center of the steel structure detection robot is relatively stable and does not deviate, and the risk of toppling over of the steel structure detection robot can be reduced.

According to some embodiments of the invention, the movement device comprises a rotation seat rotatably provided to the housing and having a rotation axis arranged vertically, and a rotation driver provided between the housing and the rotation seat for driving the rotation seat to rotate relative to the housing.

According to some embodiments of the invention, the moving device further comprises a lifting mechanism and a horizontal telescopic mechanism, the lifting mechanism is connected to the rotating seat, the horizontal telescopic mechanism is connected to the lifting mechanism, the lifting mechanism is used for driving the horizontal telescopic mechanism to vertically lift, the horizontal telescopic mechanism is connected with the detector and used for driving the detector to stretch in the horizontal direction, and the moving direction of the counterweight structure is opposite to the stretching direction of the detector.

According to some embodiments of the invention, the linkage mechanism comprises a traction rope, a rotating roller, a transmission gear and a transmission rack, wherein the transmission rack is connected with the counterweight structure, the rotating roller is rotatably arranged on the rotating seat, one end of the traction rope is connected with the detector, the other end of the traction rope is connected to the periphery of the rotating roller, the traction rope is wound on the periphery of the rotating roller, the transmission gear is coaxially arranged on the rotating roller, the transmission gear is meshed with the transmission rack, and the transmission rack is slidably arranged on the rotating seat along the length direction.

According to some embodiments of the invention, the linkage mechanism further comprises a reset driving member disposed on the rotating seat and used for driving the counterweight structure to move for reset.

According to some embodiments of the invention, the return driving member is a clockwork spring, an outer end of the clockwork spring is connected with the rotating seat, and an inner end of the clockwork spring is connected with the periphery of the rotating roller.

According to some embodiments of the invention, the rotating seat is provided with a limiting ring, the limiting ring is provided with a wire passing hole, the traction rope is arranged in the wire passing hole in a penetrating mode, and the hole wall of the wire passing hole is provided with a wear-resistant coating.

According to some embodiments of the invention, the transmission gears are at least two and are arranged at intervals along the length direction of the rotating roller, and the transmission racks are at least two and are connected with the transmission gears in a one-to-one correspondence.

According to some embodiments of the invention, one of the housing and the swivel base is provided with an annular chute, the other is provided with a slide block, the annular chute is arranged around the swivel axis of the swivel base, and the slide block is arranged on the annular chute in a sliding manner.

According to some embodiments of the invention, the counterweight structure comprises a connecting piece, a counterweight and an elastic piece, wherein the connecting piece is connected with the linkage mechanism, the counterweight is movably arranged between the connecting piece along the vertical direction, the elastic piece is arranged between the counterweight and the connecting piece, one end of the elastic piece is connected with the connecting piece, and the other end of the elastic piece is connected with the counterweight.

Additional aspects and advantages of the invention will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.

Drawings

The foregoing and/or additional aspects and advantages of the invention will become apparent and may be better understood from the following description of embodiments taken in conjunction with the accompanying drawings in which:

fig. 1 is a perspective view of an explosion diagram of a steel structure inspection robot according to an embodiment of the present invention;

FIG. 2 is an enlarged partial schematic view of FIG. 1 at A in accordance with an embodiment of the present invention;

FIG. 3 is a schematic top view of a portion of a structure according to an embodiment of the present invention;

fig. 4 is a schematic perspective view of a portion of a counterweight structure according to an embodiment of the invention.

Reference numerals:

a housing 100, an annular chute 110;

the device comprises a motion device 200, a rotating seat 210, a limiting ring 211, a sliding block 212, a rotation driver 220, a lifting mechanism 230 and a horizontal telescopic mechanism 240;

a detector 300;

the counterweight structure 400, the connecting piece 410, the guide hole 411, the counterweight 420, the guide rod 421, the elastic piece 430 and the roller 440;

a linkage mechanism 500, a traction rope 510, a rotating roller 520, a transmission gear 530, a transmission rack 540 and a reset driving piece 550.

Detailed Description

Embodiments of the present invention are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative only and are not to be construed as limiting the invention.

In the description of the present invention, it should be understood that the direction or positional relationship indicated with respect to the description of the orientation, such as up, down, etc., is based on the direction or positional relationship shown in the drawings, is merely for convenience of describing the present invention and simplifying the description, and does not indicate or imply that the apparatus or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention.

In the description of the present invention, plural means two or more. The description of the first and second is for the purpose of distinguishing between technical features only and should not be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated or implicitly indicating the precedence of the technical features indicated.

In the description of the present invention, unless explicitly defined otherwise, terms such as arrangement, installation, connection, etc. should be construed broadly and the specific meaning of the terms in the present invention can be reasonably determined by a person skilled in the art in combination with the specific contents of the technical scheme.

The existing steel structure detection robot comprises a machine base 100, a movement device 200 and a detector 300, wherein the movement device 200 is arranged on the machine base 100, the detector 300 is arranged on the movement device 200, the movement device 200 can drive the detector 300 to perform three-dimensional movement, the detector 300 is close to a steel structure to be detected for detection, for example, the detector 300 adopts two piezoelectric ceramic sensors to be respectively attached to a bolt and a nearby fastener, and therefore whether the bolt is loose or not can be detected. However, in the steel structure inspection robot with the above structure, when the movement device 200 drives the detector 300 to move, the center of gravity of the steel structure inspection robot may deviate to a certain extent along with the approach or the separation of the detector 300 from the base 100, and when the deviation is serious again, the steel structure inspection robot may topple over, which affects the normal use of the steel structure inspection robot and even causes damage to the steel structure inspection robot.

Referring to fig. 1 to 4, a steel structure inspection robot according to an embodiment of the present invention includes a base 100, a moving device 200, a detector 300, a weight structure 400, and a linkage 500. The movement device 200 is arranged on the stand 100; the detector 300 is disposed on the moving device 200, and the moving device 200 is used for driving the detector 300 to move close to or away from the stand 100; the counterweight structure 400 is movably arranged on the stand 100 along the horizontal direction and can be close to or far away from the stand 100; the linkage mechanism 500 is disposed between the detector 300 and the counterweight structure 400, wherein the counterweight structure 400 is linked to be close to the base 100 by the linkage mechanism 500 when the detector 300 is close to the base 100, and the counterweight structure 400 is linked to be far away from the base 100 by the linkage mechanism 500 when the detector 300 is far away from the base 100.

In the operation process of the steel structure detection robot, when the moving device 200 drives the detector 300 to move away from the base 100, the detector 300 drives the counterweight structure 400 to move away from the base 100 through the linkage mechanism 500, and when the moving device 200 drives the detector 300 to move close to the base 100, the detector 300 drives the counterweight structure 400 to move close to the base 100 through the linkage mechanism 500, so that the gravity center of the steel structure detection robot is relatively stable and not offset, and the risk of toppling over of the steel structure detection robot can be reduced.

In an embodiment, the movement device 200 includes a rotating base 210 and a rotation driver 220, the rotating base 210 is rotatably disposed on the base 100, and the rotation axis is disposed along a vertical direction, and the rotation driver 220 is disposed between the base 100 and the rotating base 210 and is used for driving the rotating base 210 to rotate relative to the base 100. The movement device 200 with the above structure can drive the rotating seat 210 to rotate by the rotation driver 220 to drive the detector 300 to adjust the horizontal direction, so that the detection angle of the detector 300 has stronger flexibility, is relatively convenient to use, and conveniently meets different detection requirements.

Specifically, the stand 100 is a vehicle body structure so that the robot can move by itself. It is conceivable that the stand 100 may also be fixed, and the stand 100 is directly fixed on the ground, and the stand 100 cannot move by itself.

Specifically, the rotation driver 220 is a motor, and the motor is installed on the stand 100, and an output shaft is connected to the rotating base 210. It is conceivable that the motor is disposed on the rotary base 210, and the output shaft is connected to the base 100; the rotary actuator 220 may be configured to output rotary power from a reduction motor, an internal combustion engine, a rotary cylinder, or the like.

In an embodiment, the movement device 200 further includes a lifting mechanism 230 and a horizontal telescopic mechanism 240, the lifting mechanism 230 is connected to the rotating base 210, the horizontal telescopic mechanism 240 is connected to the lifting mechanism 230, the lifting mechanism 230 is used for driving the horizontal telescopic mechanism 240 to vertically lift, the horizontal telescopic mechanism 240 is connected to the detector 300 and is used for driving the detector 300 to stretch in a horizontal direction, and a moving direction of the counterweight structure 400 is opposite to a stretching direction of the detector 300. The horizontal telescopic mechanism 240 can drive the detector 300 to move along a certain horizontal direction, the lifting mechanism 230 can indirectly drive the detector 300 to move vertically in a lifting mode, the rotary seat 210 is driven to rotate by the cooperation of the rotary driver 220, the detector 300 can move in a three-dimensional mode, meanwhile, the horizontal movement of the counterweight structure 400 synchronously approaches to or leaves the machine seat 100, so that the gravity center offset is reduced, the detection flexibility of the detector 300 is improved, the use is more convenient, the detection applicability is wider, and the toppling risk of the steel structure detection robot is reduced.

Specifically, the lifting mechanism 230 is a scissor lift mechanism 230, and can be driven to lift by an air cylinder, a hydraulic cylinder, or the like. It is envisioned that lift mechanism 230 may also be a telescoping lift mechanism 230, a mast lift mechanism 230, a crank lift mechanism 230, a rail chain lift, etc., and those skilled in the art may employ configurations specifically as desired.

Specifically, the horizontal telescopic mechanism 240 is a hydraulic cylinder, and the extending end of a telescopic rod of the hydraulic cylinder is connected with the detector 300, so as to drive the detector 300 to perform telescopic motion. It is envisioned that horizontal telescoping mechanism 240 may also be an electric cylinder or the like or other type of horizontal telescoping mechanism 240, and those skilled in the art may specifically employ configurations as desired.

Specifically, the detector 300 may be a structure having a detection function, such as a piezoelectric ceramic sensor, a vision camera, and a photoelectric sensor, and many sensors for detection in the robot field are available, and those skilled in the art can specifically configure the sensor according to actual needs.

It is envisioned that the exercise device 200 may also be a three-axis robotic arm or the like for greater flexibility.

In an embodiment, the linkage mechanism 500 includes a traction rope 510, a rotating roller 520, a transmission gear 530 and a transmission rack 540, the transmission rack 540 is connected with the counterweight structure 400, the rotating roller 520 is rotatably disposed on the rotating base 210, one end of the traction rope 510 is connected with the detector 300, the other end of the traction rope 510 is connected to the periphery of the rotating roller 520, the traction rope 510 is wound around the periphery of the rotating roller 520, the transmission gear 530 is coaxially disposed on the rotating roller 520, the transmission gear 530 is meshed with the transmission rack 540, and the transmission rack 540 is slidably disposed on the rotating base 210 along the length direction.

When the detector 300 moves away from the rotary seat 210, the rotating roller 520 is pulled to rotate through the traction rope 510, and the rotating roller 520 drives the transmission rack 540 to move through the transmission gear 530, so that the counterweight structure 400 is driven to horizontally move away from the rotary seat 210, the gravity center deviation of the steel structure detection robot is reduced, the structure is simple, the use is convenient, and the driving of an additional power source is not needed.

In an embodiment, the linkage mechanism 500 further includes a reset driving member 550, where the reset driving member 550 is disposed on the rotating base 210 and is used to drive the counterweight structure 400 to move for reset. When the detector 300 moves close to the rotating seat 210, the reset driving member 550 can drive the counterweight structure 400 to horizontally move close to the rotating seat 210, so that the gravity center deviation of the robot is reduced, and the structure is simple and easy to implement.

In an embodiment, the reset driving member 550 is a mainspring, an outer end of which is connected to the rotating base 210, and an inner end of which is connected to the outer circumference of the rotating roller 520. When the detector 300 is far away from the rotary seat 210, the rotating roller 520 is driven to rotate forward by the traction rope 510, the rotating roller 520 drives the counterweight structure 400 to move horizontally away from the rotary seat 210 by the transmission gear 530 and the transmission rack 540, so as to reduce the gravity center deviation of the robot, and the clockwork spring is tensioned during the process; when the detector 300 is close to the rotating seat 210, the clockwork spring drives the rotating roller 520 to reversely rotate, the balance weight structure 400 is driven to horizontally move to be close to the rotating seat 210, the gravity center deviation of the robot is reduced, the traction rope 510 can be automatically rewound on the periphery of the rotating roller 520, the next movement of the detector 300 is facilitated, the structure is simple and ingenious, and the recycling effect is good.

It is envisioned that the linkage 500 may also have other structures, for example, the linkage 500 includes a traction rope 510, a reversing lever and a sliding member, the reset driving member 550 may employ a spring, the reversing lever is disposed on the rotating base 210, the sliding member is horizontally slidably disposed on the rotating base 210, one end of the traction rope 510 is connected with the detector 300, the middle portion of the traction rope 510 spans the reversing lever, so that the traction rope 510 is in a "U" shape, the other end of the traction rope 510 is connected with the sliding member, the sliding member is connected with the counterweight structure 400, one end of the spring is connected with the sliding member, and the other end of the spring is connected with the rotating base 210. When the detector 300 moves away from the rotator mount 210, the pull cord 510 pulls the slider through the reversing lever, causing the weight structure 400 to move away from the rotator mount 210, during which the spring is tensioned. When the detector 300 moves close to the rotating seat 210, the spring automatically applies force to drive the sliding member and the counterweight structure 400 to move close to the rotating seat 210. The above structure can also realize that the linkage weight structure 400 is far away from the rotating base 210 when the detector 300 is far away from the rotating base 210, and the linkage weight structure 400 is near the rotating base 210 when the detector 300 is near the rotating base 210, so as to reduce the gravity center deviation of the robot.

Specifically, the driving rack 540 is provided with a guide block, the rotating base 210 is provided with a sliding groove, and the guide block is slidably connected to the sliding groove, so that the driving rack 540 can slide relative to the connecting base. It is conceivable that a guide sleeve is further disposed on the driving rack 540, and a guide post is disposed on the rotating seat 210 along the horizontal direction, and the guide sleeve is sleeved on the guide post, so that the driving rack 540 is slidably disposed on the rotating seat 210.

Specifically, the rotating base 210 is in a frame structure, and the rotating roller 520 is located in the rotating base 210.

In an embodiment, the rotary seat 210 is provided with a limiting ring 211, the limiting ring 211 is provided with a wire passing hole, the traction rope 510 penetrates through the wire passing hole, and the wall of the wire passing hole is provided with a wear-resistant coating. The limiting ring 211 is arranged, the movement path of the traction rope 510 is conveniently limited, the risk that the traction rope 510 scrapes an external object is reduced, the linkage between the detector 300 and the counterweight structure 400 is enabled to move accurately, meanwhile, the abrasion between the limiting ring 211 and the traction rope 510 can be reduced by the abrasion-resistant coating, and the service lives of the limiting ring 211 and the traction rope 510 are prolonged. Specifically, the via holes are vertically arranged.

In the embodiment, the driving gears 530 are arranged at intervals along the length direction of the rotating roller 520, and the driving racks 540 are arranged at intervals and connected with the driving gears 530 in a one-to-one correspondence manner, so that the rotating roller 520 can drive the driving racks 540 to slide more stably, and the risk of sliding among the rotating roller 520, the driving gears 530 and the driving racks 540 can be reduced.

It is envisioned that the number of drive gears 530 may be three or more, and the number of corresponding drive racks 540 may be three or more, as may be specifically configured by those skilled in the art according to actual needs.

Specifically, the two transmission gears 530 are symmetrical with respect to the middle position of the rotating roller 520, and the stability is better.

In an embodiment, the machine base 100 is provided with an annular chute 110, the rotating base 210 is provided with a sliding block 212, the annular chute 110 is arranged around the rotation axis of the rotating base 210, and the sliding block 212 is slidably arranged on the annular chute 110, so that the rotating base 210 can rotate relative to the machine base 100. It is conceivable that the base 100 is further provided with a sliding block 212, the rotating base 210 is provided with an annular sliding groove 110, and the sliding block 212 is slidably disposed in the annular sliding groove 110, so that the rotating base 210 can rotate relative to the base 100; or a rotating shaft is arranged on the stand 100, a rotating shaft hole is arranged on the rotating seat 210, and the rotating shaft is rotatably connected to the rotating shaft hole, so that the rotating seat 210 can rotate relative to the stand 100, at this time, the rotating driver 220 can be arranged on the rotating seat 210, and an output shaft of the rotating driver 220 is connected with the rotating shaft to drive the rotating seat 210 to rotate.

Specifically, two or more sliders 212 may be disposed and uniformly distributed around the rotation axis of the rotating base 210, so as to improve the rotation stability; or the slide block 212 is an annular slide block 212, so that the rotation stability can be improved.

In an embodiment, the counterweight structure 400 includes a connecting member 410, a counterweight 420 and an elastic member 430, the connecting member 410 is connected with the linkage mechanism 500, the counterweight 420 is vertically movably disposed on the connecting member 410, the elastic member 430 is disposed between the counterweight 420 and the connecting member 410, one end of the elastic member 430 is connected with the connecting member 410, and the other end of the elastic member 430 is connected with the counterweight 420. Specifically, the elastic member 430 is a spring. The elastic member 430 is provided, so that the counterweight structure 400 can be more stable in the horizontal movement process, and the shaking of the counterweight 420 can be buffered. Specifically, the connector 410 may be a plate or a block. It is envisioned that the resilient member 430 may also be a silicone block, rubber block, or other resilient member. It is envisioned that the weight structure 400 may also be a single piece, i.e., the weight structure 400 is a weight 420.

Specifically, the balancing weight 420 is vertically provided with a guide rod 421, the connecting piece 410 is provided with a guide hole 411, the guide rod 421 is arranged in the guide hole 411 in a penetrating manner, and a limiting block is arranged at the upper end of the guide rod 421 and is larger than the guide hole 411, so that the balancing weight 420 can vertically move relative to the connecting piece 410.

Specifically, the balls are disposed in the guide holes 411, so that sliding friction between the guide rod 421 and the wire guide is changed into rolling friction, and friction between the guide rod 421 and the wire guide is reduced.

Specifically, the lower extreme of balancing weight 420 is provided with four gyro wheels 440, cooperates elastic component 430, can make counterweight structure 400 remove on ground, and when the uneven level on ground, elastic component 430 also can cushion the shock attenuation to balancing weight 420, reduces the risk that the vibrations of balancing weight 420 transmitted to roating seat 210.

Further, the elastic member 430 is generally in a stretched state. The elastic member 430 is disposed, when the weight 420 contacts the ground, so that the weight 420 can adaptively pass through the elastic member 430, and the force applied to the connecting member 410 downward is adjusted, wherein the weight of the weight 420 is equal to the sum of the force applied to the connecting member 410 by the weight 420 and the pressure applied to the ground by the weight 420. Even if the positions of the balancing weights 420 are slightly different, the magnitude of the downward force applied to the connecting piece 410 and the magnitude of the pressure applied to the ground can be automatically adjusted through different stretching degrees of the elastic piece 430, so that the robot is stressed and balanced, the gravity center is relatively stable, the balance weight stability of the balance weight structure 400 is greatly improved, and the balance weight structure 400 can normally work when the weight error and the movement error of the balance weight structure 400 are slightly large.

That is, the gravity of the weight 420 is defined as G, the downward force of the weight 420 applied to the connecting member 410 by the elastic member 430 is defined as F1, and the pressure of the weight 420 applied to the ground is defined as F2, so as to satisfy g=f1+f2.

In the description of the present specification, reference to the terms "one embodiment," "some embodiments," "illustrative embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present invention have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the spirit and principles of the invention, the scope of which is defined by the claims and their equivalents.

Claims (10)

1. A steel structure inspection robot, comprising:

a base (100);

a movement device (200) provided on the base (100);

the detector (300) is arranged on the movement device (200), and the movement device (200) is used for driving the detector (300) to move close to or away from the base (100);

a weight structure (400) movably disposed on the base (100) along a horizontal direction and capable of approaching or separating from the base (100);

the linkage mechanism (500) is arranged between the detector (300) and the counterweight structure (400), the detector (300) is close to the base (100) and is used for linkage the counterweight structure (400) to be close to the base (100) through the linkage mechanism (500), and the detector (300) is far away from the base (100) and is used for linkage the counterweight structure (400) to be far away from the base (100) through the linkage mechanism (500).

2. The steel structure inspection robot of claim 1, wherein: the motion device (200) comprises a rotating seat (210) and a rotation driver (220), wherein the rotating seat (210) is rotatably arranged on the base (100) and the rotation axis is arranged along the vertical direction, and the rotation driver (220) is arranged between the base (100) and the rotating seat (210) and is used for driving the rotating seat (210) to rotate relative to the base (100).

3. The steel structure inspection robot of claim 2, wherein: the motion device (200) further comprises a lifting mechanism (230) and a horizontal telescopic mechanism (240), the lifting mechanism (230) is connected to the rotating seat (210), the horizontal telescopic mechanism (240) is connected to the lifting mechanism (230), the lifting mechanism (230) is used for driving the horizontal telescopic mechanism (240) to vertically lift, the horizontal telescopic mechanism (240) is connected with the detector (300) and used for driving the detector (300) to stretch out and draw back along the horizontal direction, and the moving direction of the counterweight structure (400) is opposite to the stretching direction of the detector (300).

4. The steel structure inspection robot of claim 2, wherein: the linkage mechanism (500) comprises a traction rope (510), a rotating roller (520), a transmission gear (530) and a transmission rack (540), wherein the transmission rack (540) is connected with the counterweight structure (400), the rotating roller (520) is rotationally arranged on the rotating seat (210), one end of the traction rope (510) is connected with the detector (300), the other end of the traction rope (510) is connected with the periphery of the rotating roller (520), the traction rope (510) is wound on the periphery of the rotating roller (520), the transmission gear (530) is coaxially arranged on the rotating roller (520), the transmission gear (530) is meshed with the transmission rack (540), and the transmission rack (540) is slidably arranged on the rotating seat (210) along the length direction.

5. The steel structure inspection robot of claim 4, wherein: the linkage mechanism (500) further comprises a reset driving piece (550), wherein the reset driving piece (550) is arranged on the rotating seat (210) and used for driving the counterweight structure (400) to move and reset.

6. The steel structure inspection robot of claim 5, wherein: the reset driving piece (550) is a clockwork spring, the outer end of the clockwork spring is connected with the rotating seat (210), and the inner end of the clockwork spring is connected with the periphery of the rotating roller (520).

7. The steel structure inspection robot of claim 4, wherein: the rotary seat (210) is provided with a limiting ring (211), the limiting ring (211) is provided with a wire passing hole, the traction rope (510) is arranged in the wire passing hole in a penetrating mode, and the wall of the wire passing hole is provided with a wear-resistant coating.

8. The steel structure inspection robot of claim 4, wherein: the transmission gears (530) are arranged at least two at intervals along the length direction of the rotating roller (520), and the transmission racks (540) are arranged at least two and are connected with the transmission gears (530) in a one-to-one correspondence.

9. The steel structure inspection robot of claim 2, wherein: one of the machine base (100) and the rotating base (210) is provided with an annular sliding groove (110), the other is provided with a sliding block (212), the annular sliding groove (110) is arranged around the rotating axis of the rotating base (210), and the sliding block (212) is arranged on the annular sliding groove (110) in a sliding mode.

10. The steel structure inspection robot of claim 1, wherein: the counterweight structure (400) comprises a connecting piece (410), a counterweight (420) and an elastic piece (430), wherein the connecting piece (410) is connected with the linkage mechanism (500), the counterweight (420) is vertically and movably arranged on the connecting piece (410), the elastic piece (430) is arranged between the counterweight (420) and the connecting piece (410), one end of the elastic piece (430) is connected with the connecting piece (410), and the other end of the elastic piece (430) is connected with the counterweight (420).