A multi-sectioned embracing type inspection robot for a valve hall steel structure and a running method thereof

Abstract

The application provides a multi-section embracing type inspection robot for valve hall steel structure and a running method, which comprises three groups of same structure first unit section, second unit section and third unit section, the first unit section, the second unit section and the third unit section are connected into an integrated main body structure and are supported on a valve hall steel structure track to be inspected through rolling walking; each first unit section, second unit section and third unit section comprises an embracing arm mechanism, an adjusting mechanism, a guiding mechanism, a driving mechanism, a steering mechanism and a control box. The application realizes autonomous path planning through the use of sensors and control systems, and relies on a camera to perform inspection work, thereby avoiding the need for manual operation in a dangerous working condition when the valve hall steel structure is inspected, greatly improving the operation efficiency and precision of valve hall inspection; and the application can perform operation tasks on different specifications of steel structures.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of inspection of large valve hall steel structures, and particularly relates to a multi-section embracing type inspection robot for valve hall steel structures and a running method. BACKGROUND

[0002] The valve hall of a converter station is a steel structure building mainly used for arranging converter valves and related equipment, and is the core building of the converter station. Before electrical installation in the construction stage of the high-end and low-end valve halls of an extra-high voltage converter station, the steel structure (including air conditioning wind pipes, valve cooling pipes and auxiliary facilities) on the top of the valve hall needs to be inspected. On one hand, timely and good inspection of the steel structure of the valve hall is beneficial to the normal operation of the equipment inside the valve hall, and on the other hand, it also guarantees people's livelihood and the national economy. The current inspection of the valve hall is mainly completed by manual work, which requires manual work in high altitude to perform related operations. This method has great safety risks, is not timely and accurate, and has low operation efficiency, which wastes a lot of manpower, material resources and financial resources. Therefore, a kind of inspection robot for valve hall steel structure is needed to solve the problems of high safety risk of manual high-altitude operation, great difficulty in quality detection and high-altitude operation intensity during the annual inspection and repair of the valve hall of the converter station. SUMMARY

[0003] The purpose of the present application is to provide a multi-section embracing type inspection robot for valve hall steel structures and a running method. The robot is safely and reliably moved on the steel structure through the embracing arm structure. The robot walks, overcomes obstacles, turns and changes tracks on the steel structure of the valve hall through the multi-unit sections. The robot autonomously plans a path through the use of sensors and a control system, and relies on a camera to perform inspection work, thereby avoiding the need for manual work in dangerous conditions during the inspection of the steel structure of the valve hall, greatly improving the operation efficiency and accuracy of the valve hall inspection. Moreover, the robot can perform work tasks on different specifications of steel structures.

[0004] In order to achieve the above technical features, the purpose of the present application is achieved as follows: a multi-section embracing type inspection robot for valve hall steel structures, which comprises three groups of first unit sections, second unit sections and third unit sections with the same structure. The first unit sections, the second unit sections and the third unit sections are connected into an integrated main body structure and are supported on the track of the valve hall steel structure to be inspected through rolling walking. Each of the first unit sections, the second unit sections and the third unit sections comprises an embracing arm mechanism, an adjusting mechanism, a guiding mechanism, a driving mechanism, a turning mechanism and a control box.

[0005] A camera sensor for image detection is installed at the head end and the tail end of the main body structure, respectively.

[0006] The arm embracing mechanism has two postures of embracing arms and unfolding, and is supported on the steel structure track of the valve hall in a ring embracing mode, the arm length of the arm embracing mechanism is adjusted by a telescopic push rod of an adjusting mechanism, the telescopic push rod is hinged on a bottom plate, the output end of the telescopic push rod is connected with a telescopic arm with adjustable length, and a rotary push rod for controlling the rotation and opening or closing of the telescopic arm is hinged between the bottom plate and the telescopic arm.

[0007] The telescopic arm comprises a telescopic square tube outer tube and a telescopic square tube inner tube in a sleeving fit, the telescopic square tube inner tube is connected with the telescopic push rod, a driving mechanism is fixedly installed at the top end of the telescopic square tube inner tube, and a guiding mechanism is fixedly installed on the inner side wall of the telescopic square tube outer tube; the adjacent bottom plates are connected through a turning mechanism.

[0008] The driving mechanism comprises a motor support fixed on the top end of the telescopic square tube inner tube, a driving motor is installed on the motor support, a driving wheel is installed on the output shaft of the driving motor, and the driving wheel rolls closely on the top end surface of the steel structure track of the valve hall.

[0009] The guiding mechanism comprises a guiding wheel support fixed on the inner wall of the telescopic square tube outer tube, a guiding wheel is vertically rotatably installed on the guiding wheel support, and the guiding wheel is in rolling fit with the lower edge outer wall of the steel structure track of the valve hall.

[0010] The telescopic push rod is hingedly connected with the bottom plate through a telescopic push rod support, the rotary push rod is hingedly connected with the bottom plate through a rotary push rod support, and the push rod end of the rotary push rod is hingedly connected with a vertical arm fixed on the inner wall of the telescopic square tube outer tube.

[0011] The turning mechanism comprises turning supports fixed on the adjacent bottom plates respectively, the two groups of turning supports are arranged in an upper and lower staggered mode, the top end of the turning support located at the upper layer is fixed with a speed reducer, the output shaft of the speed reducer is connected with the turning support located at the lower layer through a thrust ball combined bearing, and the turning support is driven to rotate by the speed reducer to drive the adjacent two unit sections to rotate relative to each other.

[0012] The control box is fixed below the bottom plate, the control box is internally provided with an on-board computer and an emergency power supply, is responsible for controlling the identification and detection subsystem, the motion control subsystem, the communication subsystem and the remote monitoring subsystem of the robot, and ensures that the robot can normally perform the inspection task of the steel structure of the valve hall;

[0013] The identification and detection subsystem collects and analyzes the information of the steel structure of the valve hall through the camera sensor, determines the advancing route and the surface condition of the steel structure;

[0014] The motion control subsystem ensures the normal operation of the robot, and overcomes obstacles, turns or changes tracks through the data collected by the camera sensor;

[0015] The communication subsystem ensures data sharing between various control systems of the robot.

[0016] The remote monitoring subsystem is used to transmit the data collected by the robot to the remote background, so that the background monitoring personnel can know the state of the robot and the steel structure of the valve hall in time, and the background monitoring personnel can also control the robot to perform remote operation.

[0017] A running method of a multi-section embracing type inspection robot for a valve hall steel structure, comprising the following steps:

[0018] Step 1: When the robot is running normally, the arm embracing mechanism is in an embracing posture, so that the robot is embraced on the track of the valve hall steel structure, the driving mechanism drives the robot to continue walking along the track of the valve hall steel structure, and the camera sensor is used to collect the surface condition of the valve hall steel structure in real time, and when the camera sensor detects that the obstacle needs to be crossed, the turning needs to be performed, or the track needs to be changed, the arm embracing mechanism of one unit section is in a preparation posture;

[0019] Step 2: When the camera sensor detects that the robot encounters an obstacle, the first unit section starts to move, the rotating push rod of the first unit section pushes the telescopic arm to rotate outward, the inner tube of the telescopic square tube is retracted under the action of the telescopic push rod, and the arm embracing mechanism of the first unit section is in an unfolded posture under the action of the rotating push rod, at this time, the second unit section and the third unit section of the robot are still in the state of embracing the track of the valve hall steel structure, and the robot continues to move forward until the first unit section passes through the obstacle, the rotating push rod of the first unit section works in reverse, the arm embracing mechanism is retracted to embrace the track of the valve hall steel structure, and the first unit section completes the obstacle crossing; the second unit section repeats the obstacle crossing action of the first unit section, so that the second unit section passes through the obstacle, and the third unit section passes through in turn, the robot crosses the obstacle, and at least two unit sections of the robot embrace the track during the crossing of the obstacle, so as to ensure the stability of the posture of the robot;

[0020] Step 3: When the camera sensor detects that the robot needs to turn, the first unit section of the robot starts to move, the arm embracing mechanism of the first unit section is in an unfolded posture under the action of the rotating push rod, the robot slowly moves forward while the turning mechanism works, the turning mechanism drives the first unit section to turn to the target direction, the movement control system moves the first unit section to the position directly below the target track under the combination of the camera sensor, the arm embracing mechanism of the first unit section is retracted to embrace the track, and the first unit section completes the turning; the arm embracing mechanism of the second unit section is unfolded, the first unit section and the third unit section control the second unit section to turn to the position directly below the target track under the control of the movement control system, the second unit section is retracted to embrace the track, the second unit section completes the turning, and the third unit section completes the turning in turn; the robot realizes the turning target, and at least two unit sections of the robot embrace the track during the turning, so as to ensure the stability of the posture of the robot;

[0021] Step4: When the camera sensor detects that the robot moves to a track of different size, the arm holding mechanism and the adjusting mechanism operate, the telescopic push rod of the arm holding mechanism drives the telescopic arm to adjust the length of the arm holding mechanism, so as to adapt to the height change of the track, the adjusting mechanism adjusts the telescoping of the telescopic square tube inner tube, so as to adjust the spacing of the driving wheel and the guide wheel, and adapt to the width change of the track, and the normal operation on the track of different size is realized by adjusting the length of the arm holding mechanism and the spacing of the wheel group.

[0022] Step5: Through the combination of Step1~Step4, the robot realizes normal running, obstacle crossing, turning and track changing.

[0023] The present application has the following beneficial effects:

[0024] 1. Through the design of multiple unit sections, each unit section is relatively independent and has cooperation, so that one unit section can temporarily leave the track during movement, facilitating the robot to cross obstacles, turn and change tracks.

[0025] 2. Through the design of the arm holding mechanism, each unit section of the robot has two attitudes of unfolding and arm holding, realizing the functions of obstacle crossing, turning and track changing of the robot.

[0026] 3. Through the combination of the adjusting mechanism and the arm holding mechanism, the robot can normally run on tracks of different sizes and shapes, improving the applicability of the robot.

[0027] 4. Through the use of sensors and control systems, autonomous path planning is realized, and at the same time, the camera is used for inspection work, avoiding the need for manual operation in a dangerous working condition when inspecting the steel structure of the valve hall, greatly improving the operation efficiency and precision of the valve hall inspection BRIEF DESCRIPTION OF DRAWINGS

[0028] The present application will be further described below in combination with the drawings and examples.

[0029] Figure 1 is a side view of the overall structure of the present application.

[0030] Figure 2 is a schematic view of the overall structure of the present application.

[0031] Figure 3 is a front view of the overall structure of the present application.

[0032] Figure 4 is a schematic view of the detail structure of the turning mechanism of the present application.

[0033] Figure 5 is a schematic view of the obstacle crossing action of the present application.

[0034] Figure 6is a schematic diagram of the turning and track changing action of the application.

[0035] In the figure: first unit section 1, second unit section 2, third unit section 3, camera sensor 4, valve hall steel structure track 5, telescopic arm 6, small vertical valve hall steel structure track 7;

[0036] Arm holding mechanism 10, adjusting mechanism 20, guiding mechanism 30, driving mechanism 40, turning mechanism 50, control box 60;

[0037] Base plate 101, telescopic push rod 102, rotating push rod 103, telescopic square tube outer tube 104, guide wheel support 105, guide wheel 106, telescopic square tube inner tube 107, motor support 108, driving motor 109, driving wheel 110, control box mounting seat 111, telescopic push rod support 112, rotating push rod support 113, vertical arm 114, thrust ball combination bearing 115, speed reduction motor 116, turning support 117. DETAILED DESCRIPTION

[0038] The embodiments of the application will be further described below with reference to the accompanying drawings.

[0039] Example 1:

[0040] Reference Figures 1-6 A multi-section arm holding type inspection robot for valve hall steel structure, which comprises three groups of first unit section 1, second unit section 2 and third unit section 3 with the same structure, the first unit section 1, the second unit section 2 and the third unit section 3 are connected into an integrated main body structure and are supported on the valve hall steel structure track 5 to be inspected through rolling walking; each of the first unit section 1, the second unit section 2 and the third unit section 3 comprises arm holding mechanism 10, adjusting mechanism 20, guiding mechanism 30, driving mechanism 40, turning mechanism 50 and control box 60. By adopting the above-mentioned robot, the arm holding mechanism 10 holds the track or expands the arm holding mechanism away from the track under the drive of the push rod; the adjusting mechanism 20 controls the guiding mechanism 30 and the driving mechanism 40 to move to the set position; the guiding mechanism 30 is composed of a guide wheel and a telescopic support, so that the robot body posture is more stable when the robot travels on the track; the driving mechanism 40 drives the driving wheel through the motor to provide power for the robot to travel; the turning mechanism 50 is responsible for turning the two adjacent sections of the robot, realizing the turning of the robot in different directions. The control scheme of the robot adopts a self-running control method, and the inspection and cleaning, path selection and obstacle crossing functions are all completed autonomously.

[0041] Further, the head end and the tail end of the main body structure are respectively provided with a camera sensor 4 for image detection. The camera sensor 4 for image detection can be used for visual detection of the valve hall steel structure.

[0042] Further, the arm embracing mechanism 10 has two postures of embracing and unfolding, and is supported on the valve hall steel structure track 5 in a ring embracing mode. The arm length of the arm embracing mechanism 10 is adjusted by the telescopic push rod 102 of the adjusting mechanism 20. The telescopic push rod 102 is hinged on the bottom plate 101, and the output end of the telescopic push rod 102 is connected with the telescopic arm 6 with adjustable length. The rotary push rod 103 for controlling the rotation of the telescopic arm 6 to open or fold is hinged between the bottom plate 101 and the telescopic arm 6. The telescopic arm 6 can be unfolded or folded under the action of the rotary push rod, and the telescopic arm 6 realizes telescopic movement under the action of the telescopic push rod, so that the robot is suitable for tracks with different heights. When walking normally, the rotary push rod drives the telescopic arm 6 to be folded to embrace the track, and when encountering an obstacle, the telescopic arm 6 of a body of the robot is unfolded downward and retracted inward at the same time, so as to realize obstacle crossing by releasing the contact with the track.

[0043] Further, the telescopic arm 6 comprises a telescopic square tube outer tube 104 and a telescopic square tube inner tube 107 which are matched and sleeved. The telescopic square tube inner tube 107 is connected with the telescopic push rod 102. The driving mechanism 40 is fixedly installed on the top end of the telescopic square tube inner tube 107. The guide mechanism 30 is fixedly installed on the inner side wall of the telescopic square tube outer tube 104. The adjacent bottom plates 101 are connected through the steering mechanism 50. The length of the telescopic support is adjusted by adjusting the driving mechanism 40 and the guide mechanism 30, so that the robot is suitable for tracks with different widths.

[0044] Further, the driving mechanism 40 comprises a motor support 108 fixed on the top end of the telescopic square tube inner tube 107. The driving motor 109 is installed on the motor support 108. The output shaft of the driving motor 109 is installed with the driving wheel 110 which rolls tightly on the top end surface of the valve hall steel structure track 5. The driving mechanism 40 is symmetrically arranged. During the working process, the driving wheel 110 is driven by the driving motor 109 to tightly fit the valve hall steel structure track 5, so as to provide power for the robot to move.

[0045] Further, the guide mechanism 30 comprises a guide wheel support 105 fixed on the inner wall of the telescopic square tube outer tube 104. The guide wheel 106 is vertically rotatably installed on the guide wheel support 105, and the guide wheel 106 is in rolling fit with the lower edge outer wall of the valve hall steel structure track 5. Two left and right symmetric guide wheels constitute a guide wheel set. At the same time, a spring device is placed at the guide wheel installation position, so that the guide wheel is always tightly fitted with the side edge of the steel track, and the body of the robot is prevented from being deflected or shaken when working on the steel track.

[0046] Further, the telescopic push rod 102 is hingedly connected to the bottom plate 101 through a telescopic push rod support 112, and the rotating push rod 103 is hingedly connected to the bottom plate 101 through a rotating push rod support 113, and the push rod end of the rotating push rod 103 is hingedly connected to a vertical arm 114 fixed on the inner wall of the telescopic square tube outer tube 104.

[0047] Further, the turning mechanism 50 includes a turning support 117 fixed on each adjacent bottom plate 101, and the two sets of turning supports 117 are arranged in an upper and lower staggered manner, and the top end of the turning support 117 on the upper layer is fixed with a speed reducer motor 116, the output shaft of the speed reducer motor 116 is connected to the turning support 117 on the lower layer through a thrust ball combined bearing 115, and the turning support 117 is driven to rotate by the speed reducer motor 116, thereby relatively rotating the adjacent two unit sections. The turning support 117 connects the speed reducer motor and a unit section of the robot, and the two turning supports 117 are connected together by the thrust ball combined bearing 115 and have a rotational degree of freedom, and are driven to rotate by the speed reducer motor to realize the rotation of a unit section of the robot, and the rotation of the entire robot is realized by the rotation of each unit section. When rotation is needed, the first unit section is in an unfolded posture and turns to the target direction, and is in a folded posture and holds the rail; the arm holding mechanism of the second unit section and the third unit section is unfolded in turn, and after the turning is completed, the arm holding mechanism holds the rail, thereby realizing the turning action of the entire robot.

[0048] Further, the control box 60 is fixed below the bottom plate 101, and the control box 60 is internally provided with an on-board computer and an emergency power supply, and is responsible for controlling the identification and detection subsystem, the motion control subsystem, the communication subsystem, and the remote monitoring subsystem of the robot, thereby ensuring that the robot can normally perform the inspection task of the valve hall steel structure. The automatic control of the robot can be realized through the control box 60.

[0049] Further, the identification and detection subsystem collects and analyzes the information of the valve hall steel structure through the camera sensor 4, and determines the forward route and the surface condition of the steel structure.

[0050] Further, the motion control subsystem ensures the normal operation of the robot, and overcomes obstacles, turns, or changes tracks through the data collected by the camera sensor 4.

[0051] Further, the communication subsystem ensures data sharing between the various control systems of the robot.

[0052] Further, the remote monitoring subsystem is used to transmit the data collected by the robot to the remote background, so that the background monitoring personnel can timely understand the state of the robot and the valve hall steel structure, and the background monitoring personnel can also control the robot to perform remote work.

[0053] Example 2:

[0054] A running method of a multi-section embracing type inspection robot for a valve hall steel structure, comprising the following steps:

[0055] Step1: When the robot is normally running, the embracing arm mechanism 10 is in an embracing posture, so that the robot is embraced on the valve hall steel structure track 5, the driving mechanism 40 drives the robot to continue walking along the valve hall steel structure track 5, and the surface condition of the valve hall steel structure is collected in real time through the camera sensor 4. When the camera sensor 4 detects that the obstacle needs to be crossed, the obstacle needs to be turned, or the track needs to be changed, the embracing arm mechanism 10 of one of the unit sections is in a preparation posture of an unfolding posture;

[0056] Step2: When the camera sensor 4 detects that the robot encounters an obstacle, the first unit section 1 starts to move, the rotating push rod 103 of the first unit section 1 pushes the telescopic arm 6 to rotate outward, the telescopic square tube inner tube 107 is recovered under the action of the telescopic push rod 102, and the embracing arm mechanism 10 of the first unit section 1 is in an unfolding posture under the action of the rotating push rod 103. At this time, the second unit section 2 and the third unit section 3 of the robot are still in the state of embracing the valve hall steel structure track 5, and the robot continues to move forward until the first unit section 1 passes through the obstacle. The rotating push rod 103 of the first unit section 1 works in reverse, the embracing arm mechanism 10 recovers to embrace the valve hall steel structure track 5, and the first unit section 1 completes the obstacle crossing. The second unit section 2 repeats the obstacle crossing action of the first unit section 1, so that the second unit section 2 passes through the obstacle, and the third unit section 3 passes through in turn. The robot crosses the obstacle, and at least two unit sections of the robot embrace the track at all times when crossing the obstacle, so as to ensure the stable posture of the robot;

[0057] Step3: When the camera sensor 4 detects that the robot needs to turn, the first unit section 1 of the robot starts to move, the embracing arm mechanism 10 of the first unit section 1 is in an unfolding posture under the action of the rotating push rod 103, the robot slowly moves forward while the turning mechanism 50 works, the turning mechanism 50 drives the first unit section 1 to turn to the target direction, the movement control system moves the first unit section 1 to the position directly below the target track in combination with the camera sensor 4, the first unit section 1 recovers the embracing arm mechanism 10 to embrace the track, and the first unit section 1 completes the turning. The second unit section 2 unfolds the embracing arm mechanism, the first unit section 1 and the third unit section 3 control the second unit section 2 to turn to the position directly below the target track under the control of the movement control system, the second unit section 2 recovers to embrace the track, the second unit section 2 completes the turning, and the third unit section 3 completes the turning in turn. The robot realizes the turning target, and at least two unit sections of the robot embrace the track at all times when turning, so as to ensure the stable posture of the robot;

[0058] Step4: When the camera sensor 4 detects that the robot moves to a track of different size, the arm holding mechanism 10 and the adjusting mechanism 20 operate, the telescopic push rod 102 of the arm holding mechanism 10 drives the telescopic arm 6 to adjust the length of the arm holding mechanism 10, to adapt to the height change of the track, and the adjusting mechanism 20 adjusts the telescopic of the telescopic square tube inner tube 107 to adjust the distance between the driving wheel and the guide wheel, to adapt to the width change of the track, through adjusting the length of the arm holding mechanism 10 and the distance between the wheel groups, the robot realizes normal operation on tracks of different sizes;

[0059] Step5: Through the combination of Step1~Step4, the robot realizes normal running, crossing obstacles, turning, and track changing.

Claims

1. A multi-sectioned embracing inspection robot for a valve hall steel structure, characterized in that: It includes three groups of the same structure of the first unit section (1), the second unit section (2) and the third unit section (3), the first unit section (1), the second unit section (2) and the third unit section (3) are connected into an integrated main body structure, and are supported on the valve hall steel structure track (5) to be inspected by rolling walking;Each first unit section (1), second unit section (2) and third unit section (3) respectively includes arm embracing mechanism (10), adjusting mechanism (20), guide mechanism (30), drive mechanism (40), steering mechanism (50) and control box (60);The arm embracing mechanism (10) has two postures of embracing arm and unfolding, and is supported on the valve hall steel structure track (5) in a ring embracing mode, the arm length of the arm embracing mechanism (10) is adjusted by the telescopic push rod (102) of the adjusting mechanism (20), the telescopic push rod (102) is hinged on the bottom plate (101), the output end of the telescopic push rod (102) is connected with the telescopic arm (6) with adjustable length, and the rotating push rod (103) for controlling the rotation opening or closing of the telescopic arm (6) is hinged between the bottom plate (101) and the telescopic arm (6);The telescopic arm (6) includes telescopic square tube outer tube (104) and telescopic square tube inner tube (107) matched in a sleeved mode, the telescopic square tube inner tube (107) is connected with the telescopic push rod (102), the drive mechanism (40) is fixedly installed at the top end of the telescopic square tube inner tube (107), and the guide mechanism (30) is fixedly installed on the inner side wall of the telescopic square tube outer tube (104);The adjacent bottom plates (101) are connected through the steering mechanism (50);The drive mechanism (40) includes motor support (108) fixed at the top end of the telescopic square tube inner tube (107), drive motor (109) installed on the motor support (108), drive wheel (110) installed on the output shaft of the drive motor (109), and drive wheel (110) rolling closely on the top end surface of the valve hall steel structure track (5);The guide mechanism (30) includes guide wheel support (105) fixed on the inner wall of the telescopic square tube outer tube (104), and guide wheel (106) vertically rotatably installed on the guide wheel support (105), and the guide wheel (106) and the lower edge outer wall of the valve hall steel structure track (5) form rolling cooperation.

2. The multi-sectioned embracing inspection robot for the steel structure of valve hall according to claim 1, characterized in that: The head end and the tail end of the main body structure are respectively provided with camera sensors (4) for image detection.

3. The multi-sectioned embracing inspection robot for the steel structure of valve hall according to claim 2, characterized in that: The telescopic push rod (102) is hingedly connected with the bottom plate (101) through telescopic push rod support (112), the rotating push rod (103) is hingedly connected with the bottom plate (101) through rotating push rod support (113), and the push rod end of the rotating push rod (103) is hingedly connected with the vertical arm (114) fixed on the inner wall of the telescopic square tube outer tube (104).

4. The multi-sectioned embracing inspection robot for the steel structure of valve hall according to claim 3, characterized in that: The steering mechanism (50) includes steering supports (117) fixed on adjacent bottom plates (101) respectively, two groups of steering supports (117) are arranged in upper and lower staggered mode, the steering supports (117) on the upper layer are fixed with reduction motors (116) at the top ends, the output shafts of the reduction motors (116) are connected with the steering supports (117) on the lower layer through the thrust ball combined bearing (115), and the steering supports (117) are driven to rotate by the reduction motors (116), so that the adjacent two unit sections are relatively rotated.

5. The multi-sectioned embracing inspection robot for the steel structure of valve hall according to claim 4, characterized in that: The control box (60) is fixed below the bottom plate (101), the control box (60) is internally provided with an onboard computer and an emergency power supply, is responsible for controlling the identification and detection subsystem, the motion control subsystem, the communication subsystem and the remote monitoring subsystem of the robot, and ensures that the robot can normally perform the inspection task of the valve hall steel structure; The identification and detection subsystem collects and analyzes the information of the valve hall steel structure through the camera sensor (4), determines the forward route and the surface condition of the steel structure; The motion control subsystem ensures the normal operation of the robot, and performs obstacle crossing, steering or rail changing through the data collected by the camera sensor (4); The communication subsystem ensures the data sharing between the control systems of the robot; The remote monitoring subsystem is used for transmitting the data collected by the robot to the remote background, so that the background monitoring personnel can know the state of the robot and the valve hall steel structure in time, and the background monitoring personnel can also control the robot to perform remote operation.

6. The operation method of the multi-sectioned embracing inspection robot for the steel structure of the valve hall according to claim 5, characterized in that, The method comprises the following steps: Step 1: When the robot normally travels, the arm holding mechanism (10) is in an arm holding posture, the robot is held on the valve hall steel structure track (5), the driving mechanism (40) drives the robot to continue walking along the valve hall steel structure track (5), and the surface condition of the valve hall steel structure is collected in real time through the camera sensor (4), when the camera sensor (4) detects that the obstacle crossing, steering or rail changing action is needed, the arm holding mechanism (10) of one unit section is in an unfolded posture for preparation; Step2: When the camera sensor (4) detects that the robot encounters an obstacle, the first unit section (1) of the robot begins to move, the rotating push rod (103) of the first unit section (1) pushes the telescopic arm (6) to rotate outward, the telescopic square tube inner tube (107) is retracted under the action of the telescopic push rod (102), and the arm holding mechanism (10) of the first unit section (1) assumes an unfolded posture under the action of the rotating push rod (103). At this time, the second unit section (2) and the third unit section (3) of the robot are still in the state of holding the valve hall steel structure track (5), and the robot continues to move forward until the first unit section (1) passes through the obstacle. The rotating push rod (103) of the first unit section (1) works in reverse, the arm holding mechanism (10) retracts to hold the valve hall steel structure track (5), and the first unit section (1) completes the obstacle crossing; the second unit section (2) repeats the obstacle crossing action of the first unit section (1) to make the second unit section (2) pass through the obstacle, and the third unit section (3) passes through in turn, so that the robot crosses the obstacle. When crossing the obstacle, the robot always has at least two unit sections holding the track, thereby ensuring the stable posture of the robot; Step3: When the camera sensor (4) detects that the robot needs to turn, the first unit section (1) of the robot begins to move, the arm holding mechanism (10) of the first unit section (1) assumes an unfolded posture under the action of the rotating push rod (103), the robot slowly moves forward while the turning mechanism (50) works, the turning mechanism (50) drives the first unit section (1) to turn to the target direction, and the motion control subsystem makes the first unit section (1) move to the directly below the target track under the combination of the camera sensor (4). The first unit section (1) retracts the arm holding mechanism (10) to hold the track, and the first unit section (1) completes the turning; the second unit section (2) unfolds the arm holding mechanism, and the first unit section (1) and the third unit section (3) turn the second unit section (2) to the directly below the target track under the control of the motion control subsystem. The second unit section (2) retracts to hold the track, the second unit section (2) completes the turning, and the third unit section (3) completes the turning in turn; the robot realizes the turning target, and when turning, the robot always has at least two unit sections holding the track, thereby ensuring the stable posture of the robot; Step4: When the camera sensor (4) detects that the robot moves to a track of different size, the arm holding mechanism (10) and the adjusting mechanism (20) operate, the telescopic push rod (102) of the arm holding mechanism (10) drives the telescopic arm (6) to adjust the length of the arm holding mechanism (10), thereby adapting to the height change of the track, and the adjusting mechanism (20) adjusts the telescopic square tube inner tube (107) to adjust the distance between the driving wheel and the guide wheel. By adjusting the length of the arm holding mechanism (10) and the distance between the wheel groups, normal operation on tracks of different sizes is realized; Step5: Through the combination of Step1~Step4, normal movement, obstacle crossing, turning, and track changing of the robot are realized.

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