Multi-curvature working condition self-adaptive tower drum inspection robot

Abstract

According to the multi-curvature working condition self-adaptive tower drum inspection robot, tracks on the two sides can swing according to curvature changes of the outer surface of a tower drum, the product fitness and the inspection efficiency are improved, meanwhile, sensing detection equipment is arranged, and targeted maintenance is conducted on the tower drum in time. Comprising a double-hinge structure base, a control module, a power supply module, a driving module, a maintenance module and an identification module; the base of the double-hinge structure comprises a rack and at least one set of connecting bases hinged to the left end and the right end of the rack correspondingly, the connecting bases are provided with magnetic adsorption caterpillar bands swinging relative to the rack, the magnetic adsorption caterpillar bands can adapt to curvature changes of the outer surface of the tower drum, and meanwhile the rack is lifted to make space for the maintenance module; cleaning and paint spraying maintenance are conducted on the tower drum in cooperation with visual recognition provided by the recognition module, and the control module controls overall movement of the robot; the power supply module supplies power to all the modules; the driving module provides driving force for the robot. The invention is suitable for the field of climbing robots.

Description

Technical Field

[0001] The invention relates to the field of climbing robots, and in particular to a tower inspection robot capable of self-adapting to multiple curvature working conditions. Background Art

[0002] With the popularization and application of wind power generation in my country, the maintenance of wind turbines has received more and more attention. As a converter of clean energy, most wind turbines are located in windy and sandy areas. The surface of their towers is easily eroded and polluted by wind, sand, oil, etc., which causes the paint on the surface of the tower to fall off if it is not cleaned, maintained and maintained for a long time. This affects the structural strength of the entire tower and even causes stress concentration, making the tower prone to collapse in bad weather and environment. The losses caused will be immeasurable. In the industry, the tower surface is mainly cleaned, inspected and maintained by manual climbing. This method has great safety hazards, and the whole process is time-consuming and labor-intensive, with high labor costs.

[0003] There is also a way to use climbing robots to carry inspection or cleaning tools to maintain the outer surface of the tower. The climbing robots used in the market are mainly divided into three types: multi-legged crawling type, wheeled chassis type and crawler chassis type. Among them, the multi-legged crawling type robot has more complicated movements when climbing walls, similar to reptiles, and uses vacuum suction cups or magnetic suction for adsorption on the soles of the feet. Due to the relatively complex mechanical structure and the small contact area between a single point and the outer surface of the tower, there are defects such as long working time and insufficient adsorption force; wheeled chassis type robots also have a small contact area with the tower, and a single wheel requires a high magnetic suction force, which is easy to get loose during work; although the general crawler chassis type robot can ensure that the contact area with the outer surface of the tower is large enough, allowing the robot to stably adsorb on the outer wall of the tower, due to the design characteristics of the wind power tower, as the height increases, its diameter is relatively reduced to a cylindrical tower structure. The crawler chassis type robots on the market cannot adapt to this change, resulting in some tracks being unable to be adsorbed on the tower, and the robot's working range cannot completely cover the entire tower. Summary of the invention

[0004] The technical problem to be solved by the present invention is to overcome the shortcomings of the prior art and provide a tower inspection robot with double-sided tracks that can swing according to the change of the curvature of the outer surface of the tower, thereby improving the adaptability of the product and the inspection efficiency. At the same time, it is equipped with sensing detection equipment to carry out targeted maintenance of the tower in a timely manner and is able to adapt to multiple curvature working conditions.

[0005] The technical solution adopted by the present invention is: the present invention comprises a double-hinge structure base, a control module, a power supply module, a drive module, a maintenance module and an identification module;

[0006] The double-hinge structure base includes a frame and at least one set of connecting seats respectively hinged to the left and right ends of the frame;

[0007] The control module is arranged on the frame to control the overall movement of the robot;

[0008] The power supply module is arranged in the rack to supply power to all modules;

[0009] The driving module is arranged at the rear end of the bottom of the frame to provide driving force for the robot;

[0010] The identification module is arranged at the front end of the rack for environmental detection and visual identification;

[0011] The maintenance module is arranged on the frame, and cleans and sprays paint the tower in cooperation with the visual recognition provided by the recognition module;

[0012] It also includes two groups of magnetic adsorption tracks with the same structure, which are respectively arranged on the connecting seats, and swing relative to the frame with the connecting seats as swing arms to adapt to the curvature change of the outer surface of the tower; the magnetic adsorption track includes a support frame, a driven sprocket shaft and a driving sprocket shaft respectively arranged at the front and rear ends of the support frame, a chain arranged around the driven sprocket shaft and the driving sprocket shaft, and a plurality of permanent magnetic adsorption units equidistantly arranged on the chain, the driving sprocket shaft is connected to the driving module, and a tensioning mechanism acting on the driven sprocket shaft is arranged on the support frame for adjusting the tightness of the chain.

[0013] Furthermore, the support frame includes an inner bracket and an outer bracket, which is fixedly connected to the connecting seat through the inner bracket, the driven sprocket shaft and the driving sprocket shaft are arranged between the inner bracket and the outer bracket, and two groups of chains are arranged on the driven sprocket shaft and the driving sprocket shaft, and the chain adopts a multi-section chain. The permanent magnetic adsorption unit is arranged on each individual segment of the chain, and a tensioning mechanism acting on the driven sprocket shaft is arranged on the inner bracket and the outer bracket, and the driving sprocket shaft is connected to the driving module through a cross universal coupling.

[0014] Furthermore, the tensioning mechanism includes a tensioning box, an adjusting bolt and a flange nut. The tensioning box is fixedly arranged on the outer walls of the inner bracket and the outer bracket at positions corresponding to the driven sprocket shaft. The interior of the tensioning box is hollow in design, and an offset groove is arranged on its outer wall surface. The driven sprocket shaft passes through the tensioning box and is arranged in the offset groove and is limited and fixed by the flange nut. The axial extension line of the adjusting bolt is parallel to the chain and is arranged in the tensioning box through a flange. Inside the tensioning box, the adjusting bolt is against the driven sprocket shaft.

[0015] Furthermore, the frame includes an aluminum alloy top plate and an aluminum alloy bottom frame, the aluminum alloy bottom frame is composed of two groups of parallel horizontal aluminum tubes and two groups of parallel longitudinal aluminum tubes, the two groups of longitudinal aluminum tubes are stacked and connected to the two groups of horizontal aluminum tubes to form a tic-tac-toe structure, and the connecting seats are hinged at the left and right ends of the two groups of horizontal aluminum tubes; the aluminum alloy top plate is divided into a long plate and a short plate, the short plate is bent downward, and the two form an L-shaped structure, and the long plate is fixedly set on the longitudinal aluminum tubes.

[0016] Furthermore, the driving module includes two groups of track motors and an axial runout elimination mechanism, the axial runout elimination mechanism includes a slide rail horizontally arranged on the inner wall of the short plate, two groups of sliders slidably matched with the slide rails, and limit blocks are arranged on both sides of the sliders. The track motor is fixed on the slider through a connecting bracket, the slide rail and the transverse aluminum tube are parallel to each other, and the output shaft of the track motor is connected to the corresponding driving sprocket shaft through a cross universal coupling.

[0017] Furthermore, the connecting seat adopts an I-shaped integrally formed part, the upper end surface is hinged to the horizontal aluminum tube through two sets of angle brackets and a rotating pin, the lower end surface is fixedly connected to the inner side bracket, and an avoidance groove is opened downward on the upper end surface.

[0018] Furthermore, the maintenance module includes a cleaning unit and a paint spraying unit. The cleaning unit includes a side brush motor arranged on the lower surface of the long board and a plurality of side brushes matched with the side brush motor. The paint spraying unit includes a water pump arranged on the upper surface of the long board, a paint storage tank connected to the input end of the water pump, and a nozzle arranged at the front end of the long board and connected to the output end of the water pump.

[0019] Furthermore, the identification module includes a USB camera unit and a sensor unit. The USB camera unit is arranged downward at the front end of the long board and located on one side of the nozzle. The sensor unit is arranged at any position of the outer peripheral wall of the long board.

[0020] Furthermore, the control module includes a main control chip, a motor drive system, a PWM speed regulation system and a Bluetooth communication system. The main control chip is electrically connected to the track motor and the side brush motor respectively through the backtracking motor drive system, is electrically connected to the water pump through the PWM speed regulation system, and is signal-connected to an external communication device through the Bluetooth communication system. The main control chip is also electrically connected to the power supply module, the sensor unit and the USB camera unit.

[0021] Finally, the present invention also includes an operation process of a multi-curvature working condition adaptive tower inspection robot.

[0022] A. Placing the robot on the outer wall of the tower, and the robot is adsorbed on the tower through the permanent magnetic adsorption unit;

[0023] B. Connect the robot via a mobile phone APP or dedicated equipment, preset climbing height parameters, start the robot to crawl, and at the same time start the side brush motor to clean the tower surface after crawling; C. Take pictures through the USB camera unit to determine whether the cleaning effect is achieved. If yes, continue to climb, otherwise continue to crawl around at the current height to keep cleaning;

[0024] D. Take pictures through the USB camera unit to determine whether touch-up is needed. If so, spray the current position, otherwise continue crawling;

[0025] E. When cleaning and repainting are impossible in steps C and D, the USB camera unit takes a photo of the target, and the sensor unit records the current height, temperature, wind speed and other environmental information. The main control chip calculates and transmits the information to the mobile phone APP or dedicated equipment through the Bluetooth communication system for recording for reference in subsequent operations. The robot sprays paint on the location that cannot be cleaned or repainted, and detours;

[0026] F. Continue crawling and repeat steps C, D, and E until the maintenance work is completely completed and the robot returns to the ground, where staff will recycle it.

[0027] Compared with the prior art, the beneficial effects of the present invention are as follows: the present invention cooperates with the magnetic adsorption crawler through the double-hinge structure base to work, and uses several groups of the permanent magnetic adsorption units to adsorb the robot on the outer wall of the tower for crawling operation. When the curvature of the outer surface of the tower changes, the magnetic adsorption crawler uses the connecting seat as a swing arm to swing downward relative to the double-hinge structure base, and the corresponding tower outer wall is in an embracing state, perfectly adapting to the curvature change of the tower outer wall, and at the same time, the double-hinge structure base is lifted up to free up necessary space for cleaning and painting operations; the recognition module is used to monitor the image and environmental data of the crawling process, and when the camera detects rust and cracks, painting can be carried out; when the robot cannot handle the surface defects of the tower, the staff can record the height value of the height sensor to determine the defect location and handle it separately; therefore, the double-sided crawlers of the robot of the present invention can swing according to the change of the curvature of the outer surface of the tower, improve the product adaptability and inspection efficiency, and at the same time have sensing detection equipment to carry out targeted maintenance of the tower in a timely manner. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] Figure 1 It is a schematic diagram of the internal structure of the present invention;

[0029] Figure 2 It is a schematic diagram of the bottom view of the structure of the present invention;

[0030] Figure 3 is a schematic diagram of the structure of the magnetic adsorption crawler;

[0031] Figure 4 is a schematic diagram of the assembly of the connecting seat and the transverse aluminum tube (partially exploded);

[0032] Figure 5 is an exploded schematic diagram of the rack;

[0033] Figure 6 is a schematic diagram of the assembly of the crawler motor and the aluminum alloy top plate (partially exploded);

[0034] Figure 7 yes Figure 3 Schematic diagram of the cross-sectional structure of AA;

[0035] Figure 8 It is a schematic diagram of the external structure of the present invention;

[0036] Fig. 9 is a schematic diagram of the magnetic adsorption crawler of the present invention after swinging;

[0037] Fig.10 Schematic diagram of the electronic control system of the present invention. DETAILED DESCRIPTION

[0038] like Figures 1 to 10As shown, the present invention includes a double-hinge structure base 1, a control module 2, a power supply module 3, a drive module, a maintenance module and an identification module; the double-hinge structure base 1 includes a frame and at least one set of connection seats 4 respectively hinged to the left and right ends of the frame; the control module 2 is arranged on the frame to control the overall movement of the robot; the power supply module 3 is arranged in the frame to power all modules; the drive module is arranged at the bottom rear end of the frame to provide driving force for the robot; the identification module is arranged at the front end of the frame for environmental detection and visual recognition; the maintenance module is arranged on the frame, and cleans and sprays the tower in cooperation with the visual recognition provided by the identification module Paint maintenance; it also includes two groups of magnetic adsorption tracks 5 with the same structure, which are respectively arranged on the connecting seat 4, and swing relative to the frame with the connecting seat 4 as a swing arm to adapt to the curvature change of the outer surface of the tower; the magnetic adsorption track 5 includes a support frame, a driven sprocket shaft 50 and a driving sprocket shaft 51 respectively arranged at the front and rear ends of the support frame, a chain 52 arranged around the driven sprocket shaft 50 and the driving sprocket shaft 51, and a number of permanent magnetic adsorption units 53 equidistantly arranged on the chain 52, the driving sprocket shaft 51 is connected to the driving module, and a tensioning mechanism 54 acting on the driven sprocket shaft 50 is arranged on the support frame for adjusting the tightness of the chain 52. The frame includes an aluminum alloy top plate and an aluminum alloy bottom frame, and the aluminum alloy bottom frame is composed of two groups of parallel horizontal aluminum tubes 6 and two groups of parallel longitudinal aluminum tubes 7. The two groups of longitudinal aluminum tubes 7 are connected to the two groups of horizontal aluminum tubes 6 in a stacked manner to form a tic-tac-toe structure. This structure can significantly reduce the horizontal size of the robot as a whole, and at the same time increase the distance between the lower surface of the aluminum alloy top plate and the tower; the connecting seat 4 is hinged at both ends of the two groups of horizontal aluminum tubes 6; the aluminum alloy top plate is divided into a long plate 8 and a short plate 9, the short plate 9 is bent downward, and the two are in an L-shaped structure, and the long plate 8 is fixedly arranged on the longitudinal aluminum tube 7. The connecting seat 4 adopts an I-shaped structure integrally formed part, the upper end surface 40 is hinged to the horizontal aluminum tube 6 through two groups of angle codes 41 and a rotating pin 42, the lower end surface 43 is fixedly connected to the inner bracket 55, and a avoiding groove 44 is opened downward on the upper end surface 40. Since the robot works on the tower surface, in order to adapt to the change of the tower curvature radius, the magnetic adsorption track 5 is hinged to the double-hinge structure base 1 through the connecting seat 4. During the crawling process, as the tower curvature radius changes, the two groups of the magnetic adsorption tracks 5 rotate to a certain extent relative to the double-hinge structure base 1, presenting an embracing state to adapt to the curvature change. The avoidance groove 44 effectively prevents the connecting seat 4 from interfering with the horizontal aluminum tube 6 when rotating. During the crawling process, the magnetic adsorption track 5 only needs to rotate downward. Therefore, it is only necessary to open the avoidance groove 44 downward at the upper end surface 40, and it still maintains a flat shape upward to prevent the magnetic adsorption track 5 from rotating upward.

[0039] In the present invention, the support frame includes an inner bracket 55 and an outer bracket 56, which is fixedly connected to the connecting seat 4 through the inner bracket 55. The driven sprocket shaft 50 and the driving sprocket shaft 51 are arranged between the inner bracket 55 and the outer bracket 56. Two groups of chains 52 are arranged on the driven sprocket shaft 50 and the driving sprocket shaft 51. The chain 52 adopts a multi-section chain. The permanent magnetic adsorption unit 53 is arranged on each individual segment of the chain 52. In the present invention, the permanent magnetic adsorption unit 53 adopts N52 square magnets. In particular, the square magnets themselves are relatively brittle. In order to ensure magnetic In order for the iron to work normally, a magnet with a larger size is used, with the specific size of 20mmx10mmx8mm (length x height x thickness). It is magnetized in the thickness direction and has a countersunk hole drilled inside. It is fixed to the segment of the chain 52 by screws (magnetic conductive material is used for installation to reduce magnetic loss). A protective tape with a thickness of 0.15mm is provided on the contact surface between each permanent magnetic adsorption unit 53 and the tower; a tensioning mechanism 54 acting on the driven sprocket shaft 50 is provided on the inner bracket 55 and the outer bracket 56, and the active sprocket shaft 51 is connected to the drive module through a cross universal coupling 57. The tensioning mechanism 54 includes a tensioning box 540, an adjusting bolt 541 and a flange nut 542. The tensioning box 540 is fixedly arranged on the outer wall of the inner bracket 55 and the outer bracket 56 at a position corresponding to the driven sprocket shaft 50. The interior of the tensioning box 540 is hollow in design, and an offset groove 543 is arranged on its outer wall surface. The driven sprocket shaft 50 passes through the tensioning box 540 and is arranged in the offset groove 543, and is limited and fixed by the flange nut 542. The axis extension line of the adjusting bolt 541 is parallel to the chain 52 and is arranged in the tensioning box 540 through a flange 544. Inside the tensioning box 540, the adjusting bolt 541 is against the driven sprocket shaft 50. In order to avoid excessive sag of the chain 52, the robot can adjust the tension of the chain 52 through the tensioning mechanism 54 before working on the tower to meet the requirement of the wall-climbing robot to maintain a maximum adsorption area on the tower. First, the flange nut 542 is loosened, and then the adjusting bolt 541 is rotated. Under the action of the flange 544, the adjusting bolt 541 is screwed into the inside of the tensioning box 540 (or screwed out), and the position of the driven sprocket shaft 50 in the offset slot 543 is adjusted, thereby achieving tightness adjustment of the chain 2.

[0040] The driving module includes two groups of crawler motors 10 and an axial runout elimination mechanism, the axial runout elimination mechanism includes a slide rail 11 horizontally arranged on the inner wall of the short plate 9, two groups of sliders 12 slidably matched with the slide rail 11, and limit blocks 13 are arranged on both sides of the slider 12. The crawler motor 10 is fixed on the slider 12 through a connecting bracket, the slide rail 11 and the transverse aluminum tube 6 are parallel to each other, and the output shaft of the crawler motor 10 is connected to the corresponding driving sprocket shaft 51 through a cross universal coupling 57. Since the driving sprocket shaft 51 is connected to the track motor 10 through the cross universal coupling 57, when the curvature radius of the tower decreases, the two groups of magnetic adsorption tracks 5 will show a tendency to be concave inward. At this time, since the driving sprocket shaft 51 is approximately a rigid body, axial runout is inevitable when it cooperates with the cross universal coupling 57. At this time, the track motor 10 can be driven by the slider 12 to move on the slide rail 11, thereby compensating for the axial runout difference of the driving sprocket shaft 51. The function of the limit block 13 is to prevent the slider 12 from detaching when sliding on the slide rail 11. The maximum rotation angle of the cross universal coupling 57 selected by the present invention is 45°. During the crawling process of the robot, the magnetic adsorption track 5 does not need to swing outward. Therefore, under the limiting action of the cross universal coupling 57 and the connecting seat 4, the maximum swing angle of the two groups of magnetic adsorption tracks 5 is 45° / 2=22.5°.

[0041] In the present invention, the maintenance module includes a cleaning unit and a paint spraying unit. The cleaning unit includes a side brush motor 14 arranged on the lower surface of the long board 8 and a plurality of side brushes 15 matched with the side brush motor 14. The side brush motor 14 is fixedly arranged on the lower surface of the long board 8 by four copper pillars being screwed in through threads. The screw-in length of the four copper pillars can be adjusted by rotation to adjust the distance between the side brush 15 and the tower surface. The side brush 15 itself adopts a flexible structure. When the radius of curvature of the tower surface becomes smaller, the side brush 15 droops at the same time as the frame is lifted upward, which does not affect the cleaning effect within a certain range. The paint spraying unit includes a water pump 16 arranged on the upper surface of the long board 8, a paint storage tank 17 connected to the input end of the water pump 16, and a nozzle 18 arranged at the front end of the long board 8 and connected to the output end of the water pump 16. The identification module includes a USB camera unit 19 and a sensor unit 20. The USB camera unit 19 is arranged downward at the front end of the long board 8 and on one side of the nozzle 18. The sensor unit 20 is arranged at any point on the outer wall of the long board 8. When the USB camera unit 19 recognizes that cracks and rust appear on the outer surface of the tower, the water pump 16 draws liquid from the paint tank 17 and increases the pressure, and then sprays the liquid in the form of water mist through the nozzle 18 and the USB camera unit 19 at the position where spraying is required.

[0042] In the present invention, the control module 2 includes a main control chip 21, a motor drive system 22, a PWM speed regulation system 23 and a Bluetooth communication system 24. The main control chip 21 is electrically connected to the track motor 10 and the side brush motor 14 through the backtracking motor drive system 22, is electrically connected to the water pump 16 through the PWM speed regulation system 23, and is signal-connected to the external communication device through the Bluetooth communication system 24. The main control chip 21 is also electrically connected to the power supply module 3, the sensor unit 20 and the USB camera unit 19. The main control chip 21 adopts STM32 chip, which is connected to the internal components of the robot through Dupont wires. The crawler motor 10 adopts JGB-37-545 DC reduction motor, and the motor drive system 22 adopts TB6612FNG motor drive system, which ensures that the robot has corresponding mechanical load and driving performance; in terms of the painting function, the switch of the nozzle 18 is realized by changing the level of the I / O port of the water pump 16, and the boost rate of the water pump 16 is adjusted by the PWM speed control system 23 to realize the speed regulation of painting; the sensor unit 20 adopts GY-39 sensor unit The Bluetooth communication system 24 uses the HC-05 Bluetooth unit to realize the functions of remote control, monitoring, data transmission, etc.; the USB camera unit 19 uses a 720P+120° USB camera, and the recognition accuracy reaches more than 98%, ensuring the stability of the robot in a complex wall environment. Image preprocessing technology, such as filtering and denoising, contrast enhancement, etc., can also be applied to significantly improve the image quality and lay the foundation for subsequent feature extraction, thereby improving the overall recognition accuracy of the wall-climbing robot visual recognition system. Optimizing the feature extraction algorithm, such as using deep learning for feature learning, can effectively reduce the number of features, improve the recognition speed, and ensure that the wall-climbing robot responds quickly in a complex environment.

[0043] In the present invention, a box cover 25 is also included. The top of the box cover 25 is relatively concave (i.e., the four surfaces are inclined in the box). When the wind blows over the concave surface, the wind force will be divided into horizontal and vertical components, which can effectively reduce wind resistance and reduce the load on the robot when crawling. A nylon handle 26 is also provided on the top of the box cover 25. The sensor unit 20 is provided on the outer peripheral wall of the box cover 25. The box cover 25 can be fixed on the long board 8 by threaded screws. The control module 2, the power supply module 3, the water pump 16, and the paint storage tank 17 are all provided in the space covered by the box cover 25. Considering the waterproofness of the robot, a first connecting hole 27 and a second connecting hole 28 are provided on the long board 8. The output end of the water pump 16 is connected to a hose, which passes through the first connecting hole 27 and extends to the bottom of the long board 8, and then passes through the second connecting hole 28 and is connected to the nozzle 18.

[0044] The present invention also discloses the operation process of the multi-curvature working condition adaptive wind turbine tower inspection robot, including:

[0045] A. Place the robot on the outer wall of the tower. The robot is adsorbed on the tower through the permanent magnetic adsorption unit 53. Before starting, the tension of the chain 52 can be adjusted through the tensioning mechanism 54 so that the magnetic adsorption crawler 5 can be better attached to the outer surface of the tower.

[0046] B. Connect with the robot through a mobile phone APP or dedicated equipment, preset climbing height parameters, start the robot to crawl, and at the same time start the side brush motor 14 to clean the surface of the tower that it has crawled. According to the characteristics of the tower structure, as the height increases, the radius of curvature of its outer surface gradually decreases. Due to the magnetic adsorption effect of the permanent magnetic adsorption unit 53, the magnetic adsorption crawler 5 will swing downward with the connecting seat 4 as the swing arm, and the whole will be in an embracing state, which can achieve adaptability to the change of the radius of curvature of the outer surface of the tower. At the same time, the double-hinged structure base 1 can be lifted up to provide sufficient space for the operation of the maintenance module;

[0047] C. Take pictures through the USB camera unit 19 to determine whether the cleaning effect is achieved. If yes, continue to climb up; otherwise, continue to crawl around at the current height to keep cleaning. During the crawling process, the recognition module synchronously monitors the environmental data;

[0048] D. Take pictures through the USB camera unit 19 to determine whether touch-up is needed. If yes, spray the current position; otherwise, continue crawling. During the crawling process, the recognition module synchronously monitors the environmental data;

[0049] E. When cleaning and repainting are impossible in steps C and D, the USB camera unit 19 takes a photo of the target, and the sensor unit 20 records environmental information such as the current height, temperature, wind speed, and specific coordinates. The main control chip 21 calculates and transmits the information to a mobile phone APP or a dedicated device through the Bluetooth communication system 24 for recording, so as to be used as a reference for subsequent operations. The robot sprays paint on the locations that cannot be cleaned or repainted, and bypasses them;

[0050] F. Continue crawling and repeat steps C, D, and E until the maintenance work is completely completed and the robot returns to the ground, where staff will recycle it.

[0051] Finally, it should be emphasized that the above is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various changes and modifications. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the scope of protection of the present invention.

Claims

1. A multi-curvature working condition adaptive tower inspection robot, characterized in that: It comprises a double-hinged structure base (1), a control module (2), a power supply module (3), a drive module, a maintenance module and an identification module; The double-hinge structure base (1) comprises a frame and at least one set of connecting seats (4) respectively hinged to the left and right ends of the frame; The control module (2) is arranged on the frame to control the overall movement of the robot; The power supply module (3) is arranged in the rack and is used to supply power to all modules; The driving module is arranged at the rear end of the bottom of the frame to provide driving force for the robot; The identification module is arranged at the front end of the rack for environmental detection and visual identification; The maintenance module is arranged on the frame, and cleans and sprays paint the tower in cooperation with the visual recognition provided by the recognition module; It also includes two groups of magnetic adsorption tracks (5) with the same structure, which are respectively arranged on the connecting seat (4) and swing relative to the frame with the connecting seat (4) as a swing arm to adapt to the change of the curvature of the outer surface of the tower; the magnetic adsorption track (5) includes a support frame, a driven sprocket shaft (50) and a driving sprocket shaft (51) respectively arranged at the front and rear ends of the support frame, a chain (52) arranged around the driven sprocket shaft (50) and the driving sprocket shaft (51), and a plurality of permanent magnetic adsorption units (53) equidistantly arranged on the chain (52); the driving sprocket shaft (51) is connected to the driving module; a tensioning mechanism (54) acting on the driven sprocket shaft (50) is arranged on the support frame for adjusting the tightness of the chain (52).

2. The multi-curvature working condition adaptive tower inspection robot according to claim 1, characterized in that: The support frame comprises an inner support (55) and an outer support (56), and is fixedly connected to the connecting seat (4) through the inner support (55); the driven sprocket shaft (50) and the driving sprocket shaft (51) are arranged between the inner support (55) and the outer support (56); two groups of chains (52) are arranged on the driven sprocket shaft (50) and the driving sprocket shaft (51); the chain (52) is a multi-section chain; the permanent magnetic adsorption unit (53) is arranged on each individual section of the chain (52); a tensioning mechanism (54) acting on the driven sprocket shaft (50) is arranged on the inner support (55) and the outer support (56); and the driving sprocket shaft (51) is connected to the driving module through a cross universal coupling (57).

3. The multi-curvature working condition adaptive tower inspection robot according to claim 2, characterized in that: The tensioning mechanism (54) includes a tensioning box (540), an adjusting bolt (541) and a flange nut (542). The tensioning box (540) is fixedly arranged on the outer wall of the inner bracket (55) and the outer bracket (56) at a position corresponding to the driven sprocket shaft (50). The interior of the tensioning box (540) is hollow in design, and an offset groove (543) is arranged on its outer wall surface. The driven sprocket shaft (50) passes through the tensioning box (540) and is arranged in the offset groove (543), and is limited and fixed by the flange nut (542). The axis extension line of the adjusting bolt (541) is parallel to the chain (52) and is arranged in the tensioning box (540) through a flange plate (544). Inside the tensioning box (540), the adjusting bolt (541) is against the driven sprocket shaft (50).

4. The multi-curvature working condition adaptive tower inspection robot according to claim 1, characterized in that: The frame comprises an aluminum alloy top plate and an aluminum alloy bottom frame, wherein the aluminum alloy bottom frame is composed of two groups of parallel transverse aluminum tubes (6) and two groups of parallel longitudinal aluminum tubes (7), wherein the two groups of longitudinal aluminum tubes (7) are connected to the two groups of transverse aluminum tubes (6) in a stacked manner to form a tic-tac-toe structure, and the connecting seats (4) are hinged at both left and right ends of the two groups of transverse aluminum tubes (6); the aluminum alloy top plate is divided into a long plate (8) and a short plate (9), wherein the short plate (9) is bent downward, and the two are in an L-shaped structure, and the long plate (8) is fixedly arranged on the longitudinal aluminum tubes (7).

5. The multi-curvature working condition adaptive tower inspection robot according to claim 4, characterized in that: The driving module comprises two groups of crawler motors (10) and an axial runout elimination mechanism, wherein the axial runout elimination mechanism comprises a slide rail (11) transversely arranged on the inner wall of the short plate (9), two groups of sliders (12) slidably matched with the slide rail (11), and limit blocks (13) are arranged on both sides of the slider (12). The crawler motor (10) is fixedly arranged on the slider (12) through a connecting bracket, the slide rail (11) and the transverse aluminum tube (6) are parallel to each other, and the output shaft of the crawler motor (10) is connected to the corresponding driving sprocket shaft (51) through a cross universal coupling (57).

6. The multi-curvature working condition adaptive tower inspection robot according to claim 5, characterized in that: The connecting seat (4) is an I-shaped integrally formed part, the upper end surface (40) is hinged to the transverse aluminum tube (6) through two sets of angle brackets (41) and a rotating pin (42), the lower end surface (43) is fixedly connected to the inner bracket (55), and an avoidance groove (44) is opened downward on the upper end surface (40).

7. The multi-curvature working condition adaptive tower inspection robot according to claim 6, characterized in that: The maintenance module comprises a cleaning unit and a paint spraying unit, wherein the cleaning unit comprises a side brush motor (14) arranged on the lower surface of the long board (8) and a plurality of side brushes (15) adapted to the side brush motor (14), and the paint spraying unit comprises a water pump (16) arranged on the upper surface of the long board (8), a paint storage tank (17) connected to the input end of the water pump (16), and a nozzle (18) arranged at the front end of the long board (8) and connected to the output end of the water pump (16).

8. The multi-curvature working condition adaptive tower inspection robot according to claim 7, characterized in that: The identification module comprises a USB camera unit (19) and a sensor unit (20); the USB camera unit (19) is arranged downward at the front end of the long plate (8) and located on one side of the nozzle (18); and the sensor unit (20) is arranged at any position on the outer peripheral wall of the long plate (8).

9. The multi-curvature working condition adaptive tower inspection robot according to claim 8, characterized in that: The control module (2) comprises a main control chip (21), a motor drive system (22), a PWM speed regulation system (23) and a Bluetooth communication system (24); the main control chip (21) is electrically connected to the track motor (10) and the side brush motor (14) respectively through the backtracking motor drive system (22), is electrically connected to the water pump (16) through the PWM speed regulation system (23), and is signal-connected to an external communication device through the Bluetooth communication system (24); the main control chip (21) is also electrically connected to the power supply module (3), the sensor unit (20) and the USB camera unit (19).

10. The operation process of the multi-curvature working condition adaptive tower inspection robot according to claim 1 is characterized in that: A. placing the robot on the outer wall of the tower, and the robot is adsorbed on the tower through the magnetic adsorption crawler (5); B. Connect with the robot through a mobile phone APP or dedicated equipment, preset climbing height parameters, start the robot to start crawling, and at the same time start the maintenance module to clean and paint the tower surface that has been crawled; C. Take photos through the recognition module to determine whether the cleaning effect is achieved. If yes, continue to climb up; otherwise, continue to crawl around at the current height to keep cleaning; D. Take photos through the recognition module to determine whether touch-up is needed. If yes, spray the current position; otherwise, continue crawling. During the crawling process, the recognition module synchronously monitors the environmental data; E. When cleaning and repainting are impossible in steps C and D, the recognition module takes a picture of the target, and the control module (2) transmits the image information and coordinate information to a mobile phone APP or a dedicated device for recording after calculation for reference in subsequent operations. The robot sprays paint on the position that cannot be cleaned or repainted, and detours; F. Continue crawling and repeat steps C, D, and E until the maintenance work is completely completed and the robot returns to the ground, where staff will recycle it.

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