Composite Wheel-Legged Skirt Robot for Space Steel Structures

Abstract

The present invention relates to the field of construction engineering robots, in particular to a composite wheel-leg skirt robot for spatial steel structures, which can solve the problem of difficult passage and obstacle crossing in the three-dimensional truss of spatial steel structures, and ensure a stable passage process. Each wheel-leg walking mechanism can adapt to the fork-shaped obstacles on the lower chord track of the spatial grid structure, and the constant-force support sliding skirt mechanism can ensure the adaptability of the robot to the V-shaped channel and the stability of the body itself, facilitating the passage and spraying operation of the robot in the spatial grid structure. Specifically, it includes a fuselage, on which an operation system for spraying and an environment perception system for perceiving the surrounding environment are provided; at the bottom of the fuselage, a front wheel-leg walking mechanism, a middle wheel-leg walking mechanism, and a rear wheel-leg walking mechanism that can each stretch up and down for obstacle crossing are arranged in sequence from front to back; on the left and right sides of the fuselage, constant-force support sliding skirt mechanisms that can assist in supporting the diagonal web members in the spatial steel structure are symmetrically arranged respectively.

Description

Technical Field

[0001] The invention relates to the field of construction engineering robots, in particular to a composite wheel-leg-skirt robot facing a space steel structure. Background Art

[0002] Spatial steel structures represented by steel trusses need to be assembled on site during construction and then sprayed with fire retardant paint. During operation and maintenance, long-term environmental factors and irregular load changes will inevitably cause damage to the steel structures, such as loosening of connecting bolts between steel structures, cracks inside steel structures, and structural corrosion. Therefore, paint spraying and damage detection both require high-altitude operations. At present, the paint spraying of steel structures under construction and the inspection of in-service spatial steel structures basically rely on repeated inspections by people, and there is a lack of efficient intelligent vehicles carrying flaw detection equipment. At present, relevant research and demonstration applications have been carried out on steel structure inspection robots for steel truss operations to replace manual crawling operations, realizing the problem of robots climbing on trusses, effectively improving engineering construction efficiency, and accelerating engineering progress.

[0003] As one of the high-altitude working environments, three-dimensional trusses are widely used in modern construction sites or large-scale buildings that have been built. Their characteristics include spatial staggering, regular repetition, and single texture. Figure 1 As shown in the figure, this type of commonly used three-dimensional truss mainly includes two upper chords and one lower chord. The upper chord and the lower chord are connected by diagonal webs, and the upper chords are connected by transverse webs. The cross section is triangular. When the robot walks in the three-dimensional truss of this type of spatial steel structure, it will encounter the following three problems: the first problem is that the structural characteristics of the truss determine that the intersection of the diagonal web and the chord forms a "V"-shaped fork obstacle, requiring the robot to have a high-frequency obstacle crossing function; the second problem is that the three-dimensional truss is a non-enclosed space, which is a bar system structure connected together according to certain rules, and there is no obvious road for passage; the third problem is that the lower chord of the truss is generally a single pipe, and the balance and stability of the robot is difficult to solve. Because of the structural characteristics of the truss itself, the realization of robot crawling in the truss is still a technical problem that needs to be solved urgently, and it is impossible to free people from the dangerous working environment. Summary of the invention

[0004] The present invention provides a composite wheel-leg-skirt robot for space steel structures, which can solve the problem of difficulty in passing through obstacles in the three-dimensional truss of the space steel structure and ensure a smooth passage process. Each wheel-leg walking mechanism can adapt to the fork-shaped obstacle on the lower chord track of the space grid structure. The constant force supporting sliding skirt mechanism can ensure the adaptability of the robot to the V-shaped channel and the self-stability of the body, thereby facilitating the robot's passage and spraying operations in the space grid structure.

[0005] The present invention is achieved through the following technical solutions:

[0006] A composite wheel-leg-skirt robot for a space steel structure, comprising a fuselage, on which a spraying operation system and an environment perception system for sensing the surrounding environment are arranged;

[0007] The bottom of the fuselage is provided with a front wheel leg walking mechanism, a middle wheel leg walking mechanism and a rear wheel leg walking mechanism which can be extended and retracted up and down to overcome obstacles in sequence from front to back;

[0008] The left and right sides of the fuselage are symmetrically provided with constant force supporting sliding skirt mechanisms which can assist in supporting the diagonal belly bars in the spatial steel structure.

[0009] Furthermore, the constant force supporting sliding skirt mechanism includes a connecting rod assembly and two skirt rods distributed in parallel up and down, the connecting rod assembly includes a constant force spring rod and two connecting rods distributed up and down, one end of the upper connecting rod is rotatably connected to the side of the fuselage, and the other end is rotatably connected to the skirt rod located above, one end of the lower connecting rod is rotatably connected to the side of the fuselage, and the other end is rotatably connected to the skirt rod located below, one end of the constant force spring rod is rotatably connected to the connecting rod located above, and the other end is rotatably connected to the connecting rod located below.

[0010] Furthermore, the front wheel leg walking mechanism, the middle wheel leg walking mechanism and the rear wheel leg walking mechanism all include a folding mechanism and a wheel walking mechanism;

[0011] The wheel travel mechanism includes an upper wheel frame, a lower wheel frame, a travel power motor, a pulley shaft and a belt turntable. The upper and lower ends of the upper wheel frame are respectively connected to the folding mechanism and the lower wheel frame. The belt turntable is rotatably mounted on the upper part of the lower wheel frame, and the pulley shaft is rotatably mounted on the lower part of the lower wheel frame. The belt turntable is connected to the pulley shaft through a belt.

[0012] The travel power motor is arranged on the outer wall of the lower wheel frame, the output shaft of the travel power motor is connected to the belt turntable, and the left and right shaft ends of the pulley shaft are respectively fixed with driving side wheels.

[0013] Furthermore, the folding mechanism of the middle wheel leg walking mechanism is a symmetrical telescopic mechanism, which includes two upper connecting rods and two lower connecting rods, the lower ends of the two lower connecting rods are rotatably connected to the top of the upper wheel frame, and the upper ends of the two lower connecting rods are respectively hinged to the lower ends of the two upper connecting rods;

[0014] A connecting seat is provided at the bottom of the fuselage, and two rotating shafts are rotatably installed on the connecting seat respectively. One end of the two rotating shafts is fixed with opening and closing gears that mesh with each other for transmission. A synchronous opening and closing motor is fixed on the connecting seat, and the output shaft of the synchronous opening and closing motor is connected to one of the rotating shafts; the upper ends of the two upper connecting rods are fixedly connected to the two rotating shafts respectively.

[0015] Furthermore, the folding mechanism of the front wheel leg walking mechanism and the rear wheel leg walking mechanism comprises a folding link assembly, a shock absorber and a lever, and the folding link assembly comprises a cross bar, a top long bar, a top short bar, a bottom long bar and a bottom short bar;

[0016] A connecting shaft is fixed to the upper end of the lever, and the connecting shaft is swivel-mounted at the bottom of the fuselage through a support assembly, the lower end of the lever and the lower end of the top short rod are hinged to one end of the top of the cross rod, the lower end of the top long rod is hinged to the other end of the top of the cross rod, the upper end of the top long rod is hinged to the bottom of the fuselage, and the upper end of the top short rod is hinged to the middle position of the top long rod;

[0017] The upper ends of the bottom long rod and the bottom short rod are respectively hinged to the two ends of the bottom of the cross rod, the lower end of the bottom short rod is hinged to the middle position of the bottom long rod, the lower end of the bottom long rod is hinged to the top of the upper wheel frame, one end of the shock absorber is hinged to the middle position of the bottom long rod, and the other end is hinged to the side of the upper wheel frame.

[0018] Furthermore, the front wheel leg walking mechanism and the rear wheel leg walking mechanism also include a telescopic drive motor, the telescopic drive motor is fixed to the bottom of the fuselage, and the output shaft of the telescopic drive motor is fixedly connected to the connecting shaft of the shifting rod.

[0019] Furthermore, the environmental perception system includes an array ultrasonic device and a radar, and the array ultrasonic device is arranged on the top of the fuselage;

[0020] There are multiple radars, which are respectively arranged on the side surfaces of the upper wheel frames of the front wheel leg walking mechanism, the middle wheel leg walking mechanism and the rear wheel leg walking mechanism.

[0021] Furthermore, the operating system includes an internal spraying mechanism and two sets of six-axis robotic arms with spray heads, one set of six-axis robotic arms is installed at the rear end of the fuselage, and the other set of six-axis robotic arms is installed on the top surface of the fuselage near the front end;

[0022] The internal spraying mechanism includes a rotating motor, a rotating rod, a swinging motor and a main spray head. The rotating motor is arranged on the front end surface of the fuselage, the rotating rod is installed on the output shaft of the rotating motor, the swinging motor is installed on the rotating rod, and the main spray head is installed on the output shaft of the swinging motor.

[0023] Furthermore, in the constant force support sliding skirt mechanism, the connecting rod assembly is divided into two groups distributed front and back.

[0024] Compared with the prior art, the present invention has the following beneficial effects:

[0025] 1. The robot can alternately pass through the fork-shaped obstacles on the lower chord track of the space grid structure by arranging the front wheel leg walking mechanism, the middle wheel leg walking mechanism and the rear wheel leg walking mechanism from front to back at the bottom of the fuselage, which can be extended and retracted up and down to overcome obstacles. The robot can also ensure the adaptability of the robot to the V-shaped channel and the stability of the robot itself by the constant force support sliding skirt mechanism and the diagonal belly rod, so as to facilitate the robot to pass smoothly in the space grid structure. Then, the space steel structure truss is sprayed and other operations are performed through the operation system.

[0026] 2. Each set of constant force support sliding skirt mechanism includes a connecting rod assembly and two skirt rods distributed in parallel up and down. With the cooperation of the connecting rod assembly, the skirt rod can stably contact the diagonal web of the spatial steel structure truss to ensure that the fuselage is stably supported in the narrow V-shaped channel in the truss;

[0027] 3. The folding mechanism of the middle wheel leg walking mechanism is a symmetrical telescopic mechanism, which can make the wheel walking mechanism of the middle wheel leg walking mechanism rise and fall vertically; the folding mechanism of the front wheel leg walking mechanism and the rear wheel leg walking mechanism includes a folding connecting rod assembly, a shock absorber and a lever, which can make the wheel walking mechanism of the front wheel leg walking mechanism and the rear wheel leg walking mechanism telescope along the inclined direction, thereby ensuring the overall structure is compact, avoiding excessive fuselage length, and improving the overall adaptability;

[0028] 4. The environmental perception system includes an array ultrasonic device and a radar. The array ultrasonic device is installed on the top of the fuselage; the radars are installed on the sides of the upper wheel frames of the front wheel leg walking mechanism, the middle wheel leg walking mechanism and the rear wheel leg walking mechanism, respectively, to ensure that the navigation is less disturbed by the environment, has high reliability, and is not affected by its own spraying operation;

[0029] 5. The operation system includes an internal spraying mechanism and two sets of six-axis robotic arms with spray heads. It can perform various operations according to actual needs, solving the problem of full coverage spraying and inspection operations in special-shaped and complex space truss systems;

[0030] 6. The composite wheel-leg-skirt robot for space steel structures described in the present invention frees people from dangerous working environments, which is urgently needed in the construction and operation and maintenance industries and plays a positive role in the development of robot detection technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 It is a schematic diagram of a space steel structure in the prior art;

[0032] Figure 2 This is an overall schematic diagram of the composite wheel-leg-skirt robot facing the space steel structure of the present invention;

[0033] Figure 3 This is a schematic diagram of the overall explosion of the composite wheel-leg-skirt robot facing the space steel structure of the present invention;

[0034] Figure 4 It is a schematic diagram of the front wheel leg walking mechanism, the rear wheel leg walking mechanism and the middle wheel leg walking mechanism of the present invention;

[0035] Figure 5 This is an exploded schematic diagram of the wheel travel mechanism of the present invention;

[0036] Figure 6 This is an exploded schematic diagram of the middle wheel leg walking mechanism of the present invention;

[0037] Figure 7 This is an exploded schematic diagram of the front wheel leg walking mechanism of the present invention;

[0038] Figure 8 This is a schematic diagram of the constant force supporting sliding skirt mechanism of the present invention;

[0039] Fig. 9 This is a schematic diagram of the initial working state of the composite wheel-leg-skirt robot of the present invention;

[0040] Fig.10 It is a schematic diagram of the obstacle-crossing state of the front wheel-leg walking mechanism of the composite wheel-leg-skirt robot of the present invention;

[0041] Fig.11 It is a schematic diagram of the constant force supporting sliding skirt mechanism and the diagonal brace support according to the present invention;

[0042] Fig.12 This is a schematic diagram of the composite wheel-leg-skirt robot performing spraying operation according to the present invention;

[0043] In the figure: 1. Six-axis robot arm, 2. Three-stage sleeve lifting rod, 3. Front wheel leg walking mechanism, 31. Upper wheel frame, 32. Lower wheel frame, 33. Belt turntable, 34. Belt, 35. Pulley shaft, 36. Walking power motor, 37. Driving side wheel, 4. Rear wheel leg walking mechanism, 5. Middle wheel leg walking mechanism, 6. Constant force support sliding skirt mechanism, 61. Skirt rod, 62. Connecting rod, 63. Constant force spring rod, 7. Internal spraying mechanism, 71. Rotating rod, 72. Rotating motor, 73. Swinging motor, 8. Fuselage, 9. Symmetrical telescopic mechanism, 91. Lower connecting rod, 92. Upper connecting rod, 93. Opening and closing gear, 94. Synchronous opening and closing motor, 101. Telescopic drive motor, 102. Paddle, 103. Shock absorber, 104. Folding connecting rod assembly, 1041. Cross rod, 1042. Top long rod, 1043. Top short rod, 1044. Bottom long rod, 1045. Bottom short rod, 11. Frequency modulated continuous wave 60GHz radar, 12. Array ultrasonic device. DETAILED DESCRIPTION

[0044] The embodiments of the present invention are described in detail below, examples of which are shown in the accompanying drawings, wherein the same or similar reference numerals throughout represent the same or similar elements or elements having the same or similar functions. The embodiments described below with reference to the accompanying drawings are exemplary and are only used to explain the present invention, and cannot be interpreted as limiting the present invention.

[0045] It will be understood by those skilled in the art that, unless expressly stated, the singular forms "one", "said", and "the" used herein may also include plural forms. It should be further understood that the term "comprising" used in the specification of the present invention refers to the presence of the features, integers, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integers, steps, operations, elements, components and / or groups thereof. It should be understood that when we refer to an element as being "connected" or "coupled" to another element, it may be directly connected or coupled to the other element, or there may be intermediate elements. In addition, the "connection" or "coupling" used herein may include wireless connection or coupling. The term "and / or" used herein includes any unit and all combinations of one or more associated listed items.

[0046] like Figure 2-Figure 3 As shown, this embodiment discloses a composite wheel-leg-skirt robot for space steel structures, which mainly includes a fuselage 8, an operating system, an environmental perception system, a front wheel-leg walking mechanism 3, a middle wheel-leg walking mechanism 5, a rear wheel-leg walking mechanism 4, a constant force supporting sliding skirt mechanism 6, a power supply and a control system and other structures.

[0047] The control system is mainly system integration. A stability integrated controller based on a hierarchical structure is designed to achieve comprehensive control and autonomous navigation of the fuselage, and to coordinate and manage the coordination and joint work among the various mechanisms of the robot, and to comprehensively control the functional logic of automatic walking, autonomous obstacle avoidance, and autonomous operation. The power supply is a built-in lithium battery, which realizes 48V and 24V power supply and is set in the fuselage 8. They are all conventional technical means and will not be described in detail here. The fuselage 8 adopts the concept of lightweight design of the main body, and is processed with titanium alloy and high-strength lightweight materials. The overall shape is fish belly, which can be used to integrate and mount other components. The fuselage 8 is assembled by a built-in titanium alloy keel and an outer carbon fiber shell. The control system and electrical components are all built in a waterproof box.

[0048] like Figure 4-Figure 5As shown, the front wheel leg walking mechanism 3, the middle wheel leg walking mechanism 5 and the rear wheel leg walking mechanism 4 are used for rapid obstacle crossing, movement and fuselage support. The front wheel leg walking mechanism 3, the middle wheel leg walking mechanism 5 and the rear wheel leg walking mechanism 4 all include a folding mechanism and a wheel walking mechanism. The wheel walking mechanism is used to walk on the lower chord of the space structure, and mainly includes an upper wheel frame 31, a lower wheel frame 32, a walking power motor 36, a pulley shaft 35 and a belt turntable 33. The upper and lower ends of the upper wheel frame 31 are respectively connected to the folding mechanism and the lower wheel frame 32. The belt turntable 33 is rotatably mounted on the upper part of the lower wheel frame 32 through a bearing assembly. The pulley shaft 35 is rotatably mounted on the lower part of the lower wheel frame 32 through a bearing assembly. The belt turntable 33 is connected to the pulley shaft 35 through a belt 34. The outer shell of the walking power motor 36 is fixed to the outer wall of the lower wheel frame 32, and the output shaft of the walking power motor 36 is connected to the belt turntable 33. The left and right shaft ends of the pulley shaft 35 are respectively fixed with driving side wheels 37. When the travel power motor 36 is working, it can drive the two driving side wheels 37 to travel stably on the lower chord rod through the belt turntable 33 and the pulley shaft 35.

[0049] like Figure 6 As shown, in the middle wheel leg walking mechanism 5, the folding mechanism of the middle wheel leg walking mechanism 5 is a symmetrical telescopic mechanism 9, which includes a synchronous opening and closing motor 94, two upper connecting rods 92 and two lower connecting rods 91. The lower ends of the two lower connecting rods 91 are connected to the top of the upper wheel frame 31 by rotation, and the upper ends of the two lower connecting rods 91 are respectively hinged to the lower ends of the two upper connecting rods 92. A connecting seat is installed at the bottom of the fuselage 8, and two rotating shafts are respectively swivel-mounted on the connecting seat through a bearing assembly. An opening and closing gear 93 that meshes and drives with each other is fixed at one end of the two rotating shafts. The synchronous opening and closing motor 94 is fixed on the connecting seat, and the output shaft of the synchronous opening and closing motor 94 is connected to one of the rotating shafts through a coupling. The upper ends of the two upper connecting rods 92 are respectively fixedly connected to the two rotating shafts. With such a design, when the synchronous opening and closing motor 94 is working, it can control the symmetrical telescopic mechanism 9 to extend and retract up and down, thereby controlling the wheel walking mechanism of the middle wheel leg walking mechanism 5 to rise and fall.

[0050] like Figure 7As shown, the folding mechanism of the front wheel leg walking mechanism 3 and the rear wheel leg walking mechanism 4 is different from the folding mechanism of the middle wheel leg walking mechanism 5. The folding mechanism of the front wheel leg walking mechanism 3 and the rear wheel leg walking mechanism 4 mainly includes a folding link assembly 104, a telescopic drive motor 101, a shock absorber 103 and a lever 102. The folding link assembly 104 includes a cross rod 1041, a top long rod 1042, a top short rod 1043, a bottom long rod 1044 and a bottom short rod 1045. Among them, the cross rod 1041 is formed by two rods intersecting and hinged to each other, forming an X shape. A connecting shaft is fixed at the upper end of the lever 102, and the connecting shaft is swivel-mounted at the bottom of the fuselage through a support assembly. The lower end of the lever 102 and the lower end of the top short rod 1043 are hinged to the top end of the cross rod 1041, the lower end of the top long rod 1042 is hinged to the other end of the top of the cross rod 1041, the upper end of the top long rod 1042 is hinged to the bottom of the fuselage through a support, and the upper end of the top short rod 1043 is hinged to the middle position of the top long rod 1042. The upper ends of the bottom long rod 1044 and the bottom short rod 1045 are respectively hinged to the two ends of the bottom of the cross rod 1041, the lower end of the bottom short rod 1045 is hinged to the middle position of the bottom long rod 1044, the lower end of the bottom long rod 1044 is hinged to the top of the upper wheel frame 31, and one end of the shock absorber 103 is hinged to the middle position of the bottom long rod 1044, and the other end is hinged to the side of the upper wheel frame 31. The housing of the telescopic drive motor 101 is fixed to the bottom of the fuselage 8, and the output shaft of the telescopic drive motor 101 is fixedly connected to the connecting shaft of the lever 102 through a coupling. With such a design, when the telescopic drive motor 101 is working, by rotating the lever 102, the cross bar 1041 can be driven to move obliquely, thereby controlling the wheel walking mechanism of the front wheel leg walking mechanism 3 and the rear wheel leg walking mechanism 4 to extend and retract along the oblique direction, thereby ensuring the overall structure is compact, avoiding excessive length of the fuselage, and improving the overall adaptability.

[0051] like Figure 8As shown, the constant force supporting sliding skirt mechanism 6 is divided into two groups, which are symmetrically arranged on the left and right sides of the fuselage 8, and can assist in supporting the diagonal brace in the spatial steel structure, for anti-overturning, for stably supporting the fuselage, and adapting to the changes in the space in the grid of the spatial steel structure. Since there are diagonal braces in the truss of the spatial steel structure, a V-shaped channel is formed. In order to adapt to this channel, each group of constant force supporting sliding skirt mechanism 6 includes two groups of connecting rod assemblies and two skirt rods 61 distributed in parallel up and down. The two groups of connecting rod assemblies are distributed front and back, and each group of connecting rod assemblies includes a constant force spring rod 63 and two connecting rods 62 distributed up and down. One end of the connecting rod located at the top is rotatably connected to the side of the fuselage through a support, and the other end is rotatably connected to the skirt rod located at the top through a pin assembly. One end of the connecting rod located at the bottom is rotatably connected to the side of the fuselage, and the other end is rotatably connected to the skirt rod located at the bottom. One end of the constant force spring rod is rotatably connected to the connecting rod located at the top, and the other end is rotatably connected to the connecting rod located at the bottom. When the fuselage enters the V-shaped channel in the spatial steel structure, the front wheel leg walking mechanism 3, the middle wheel leg walking mechanism 5 and the rear wheel leg walking mechanism 4 are supported on the lower chord, and the constant force supporting sliding skirt mechanisms 6 on both sides are in contact with the diagonal belly bars on both sides of the V-shaped channel, so that the fuselage is supported in three directions in the semi-enclosed space. Due to the self-weight factor, the constant force spring rod is passively extended and retracted to form a V-shaped support for the entire fuselage, and achieve balance under the action of its own gravity.

[0052] The environmental perception system is used to monitor key information around the fuselage for navigation, obstacle avoidance and operation; the data information obtained constructs a local three-dimensional information model, and the model is bound to the path by conventional means, and the feature points correspond to the operation content. Specifically, the environmental perception system includes an array ultrasonic device 12 and a radar. The array ultrasonic device 12 is set on the top of the fuselage to sense the transverse web of the spatial steel structure. The radar uses a frequency modulated continuous wave 60GHz radar 11. There are multiple radars, which are respectively set on the front side of the upper wheel frame 31 of the front wheel leg walking mechanism 3, the middle wheel leg walking mechanism 5 and the rear wheel leg walking mechanism 4, and are used to avoid obstacles around the wheel legs.

[0053] The operation system includes an internal spraying mechanism 7 and two groups of six-axis manipulators 1 with nozzles for spraying operations. Among them, the internal spraying mechanism 7 includes a rotating motor 72, a rotating rod 71, a swinging motor 73 and a main nozzle. The rotating motor is arranged on the front end face of the fuselage, the rotating rod 71 is installed on the output shaft of the rotating motor, the swinging motor 73 is installed on the rotating rod, and the main nozzle is installed on the output shaft of the swinging motor. The internal spraying mechanism 7 can perform rotary spraying operations within a certain range. Both groups of six-axis manipulators 1 use a hollow motor with integrated drive and control, with built-in cables, and the manipulator controller is integrated with the controller of the fuselage. A three-stage sleeve lifting rod 2 is installed near the front end of the top surface of the fuselage. The three-stage sleeve lifting rod 2 is an electric lifting rod that can control the lifting of the sleeve through electric control technology. One group of six-axis manipulators 1 is installed at the rear end of the fuselage, and the other group of six-axis manipulators 1 is installed at the end of the three-stage sleeve lifting rod 2. The two groups of six-axis manipulators 1 can choose to install nozzles or flaw detection devices according to actual needs to perform corresponding operations.

[0054] Facing Figure 1 The spatial steel structure truss of the type shown, obstacle walking is the key link in the normal operation of the robot, such as Fig. 9 As shown, when the composite wheel-leg-skirt robot described in this embodiment is performing spraying or inspection operations, the composite wheel-leg-skirt robot walks on the lower chord, and the front wheel-leg walking mechanism 3, the middle wheel-leg walking mechanism 5 and the rear wheel-leg walking mechanism 4 are attached to the upper surface of the lower chord, and the wheel walking mechanism provides the power for walking. When the frequency-modulated continuous wave 60GHz radar 11 senses that the distance between the four-pronged outward-stretched obstacle formed at the intersection of the diagonal belly bar and the lower chord and each wheel-leg walking mechanism reaches the obstacle crossing threshold, the front wheel-leg walking mechanism 3 and the rear wheel-leg walking mechanism 4 realize the folding contraction of the wheel walking mechanism toward the fuselage through the folding mechanism, and the middle wheel-leg walking mechanism 5 realizes vertical telescopic ...

[0055] The specific obstacle crossing process of the composite wheel-leg-skirt robot facing the space steel structure in this embodiment is as follows:

[0056] like Figure 10-11As shown, during specific movement, in one obstacle crossing cycle, 2 rows of 6 Bonner ultrasonic array ultrasonic instruments 12 are arranged laterally in the center above the fuselage. When the ultrasonic wave detects that the transverse web is at a given position, and the frequency-modulated continuous wave 60GHz radar 11 on the front wheel leg walking mechanism 3 detects that a four-pronged outward-type obstacle at a certain plane height reaches a given threshold, the front wheel leg walking mechanism 3 is driven by the folding mechanism to retract along the outward-inclined direction of the oblique web, and the fuselage continues to move under the drive of the middle wheel leg walking mechanism 5 and the rear wheel leg walking mechanism 4, and the frequency-modulated continuous wave 60GHz radar 11 on the middle wheel leg walking mechanism 5 detects that a four-pronged outward-type obstacle at a certain plane height reaches a given threshold. When the front wheel leg walking mechanism 3 is driven by the folding mechanism to extend outward to the surface of the lower chord, the middle wheel leg walking mechanism 5 is driven by the symmetrical telescopic mechanism 9 to rise, and the fuselage continues to move under the drive of the front wheel leg walking mechanism 3 and the rear wheel leg walking mechanism 4; when the frequency modulated continuous wave 60GHz radar 11 on the rear wheel leg walking mechanism 4 detects that a four-pronged outward obstacle of a certain plane height reaches a given threshold, the middle wheel leg walking mechanism 5 is driven by the symmetrical telescopic mechanism 9 to extend outward to the surface of the lower chord, and the rear wheel leg walking mechanism 4 is driven by the folding mechanism to retract toward the fuselage, and the fuselage continues to move under the drive of the front wheel leg walking mechanism 3, the middle wheel leg walking mechanism 5 and the rear wheel leg walking mechanism 4, and an obstacle crossing cycle ends.

[0057] In this walking process, it is ensured that when the fuselage is moving, at least two wheel-leg walking mechanisms support the fuselage, and four-pronged outward obstacles are avoided accordingly. The robot walks in a partially closed space steel structure grid. Environmental perception and navigation are important devices to ensure the normal operation of the robot. The three sets of wheel-leg walking mechanisms are equipped with frequency-modulated continuous wave 60GHz radars 11 at appropriate positions. The radar can give the distance of obstacles within the arc range at a certain plane height, which can be used as signals for wheel-leg obstacle avoidance; an array ultrasonic instrument 12 is set horizontally along the fuselage directly above the center of the fuselage, which can accurately sense the positional relationship between the fuselage and the transverse web, and then determine the robot's operation plan.

[0058] At the same time, the cross section of the grid space of the spatial steel structure is V-shaped, and the anti-overturning and stability of the overall mechanism, that is, the support adaptability of the space in the grid is very important. If the adaptability is weak, the robot will not walk smoothly, or get stuck, or overturn. In this embodiment, a constant force support sliding skirt mechanism 6 is symmetrically arranged along both sides of the fuselage, including a skirt rod, a connecting rod and a constant force spring rod, which can adapt to the changes in the grid space and ensure that the support force or the force of the fuselage on the spatial steel structure grid is kept within a certain range.

[0059] Taking spraying operation as an example, the spraying operation process of the composite wheel-leg-skirt robot facing the space steel structure of the present invention is as follows:

[0060] like Fig.12As shown, the operation logic is controlled. During the specific operation, when the array ultrasonic device 12 detects that the transverse bar is located above the center of the fuselage, the robot stops walking, and the front six-axis robotic arm 1 is first lifted to the outside of the grid by the three-stage sleeve lifting rod 2, and then performs spraying operations according to the preset trajectory together with the rear six-axis robotic arm 1. Among them, the rear six-axis robot arm 1 is mainly responsible for the spraying operation of the inside of the grid and the outer surface of the lower chord of the spatial steel structure, and the front six-axis robot arm 1 is mainly responsible for the spraying operation of the outer surface of the upper chord and the transverse web outside the grid. After completing the operation according to the trajectory, when the given area of ​​the inner and outer surfaces of the grid of the spatial steel structure is sprayed, the two groups of six-axis robot arms 1 are retracted into a folded state, among which the front six-axis robot arm 1 is pulled back to the inside of the grid of the spatial steel structure by the three-stage sleeve lifting rod 2, and the robot continues to walk; when the robot is walking, the internal spraying mechanism 7 is driven by the rotating motor to rotate the rotating rod around the longitudinal axis of the fuselage, and the swing motor fixed at the end of the rotating rod cooperates with the main nozzle to implement the spraying operation, and the internal spraying mechanism 7 stops working when the robot stops walking.

[0061] The above embodiments describe the present invention in detail, but the contents are only preferred embodiments of the present invention and cannot be considered to limit the scope of the present invention. All equivalent changes and improvements made within the scope of the present invention should still fall within the scope of the present invention.

Claims

1. A composite wheel-leg-skirt robot for space steel structures, characterized in that: It comprises a fuselage (8), on which is provided an operating system for spraying and an environment sensing system for sensing the surrounding environment; The bottom of the fuselage (8) is provided with a front wheel leg walking mechanism (3), a middle wheel leg walking mechanism (5) and a rear wheel leg walking mechanism (4) which can be extended and retracted up and down to overcome obstacles in sequence from front to back; The front wheel leg walking mechanism (3), the middle wheel leg walking mechanism (5) and the rear wheel leg walking mechanism (4) all include a folding mechanism and a wheel walking mechanism; the folding mechanism of the middle wheel leg walking mechanism (5) is a symmetrical telescopic mechanism (9), and the folding mechanisms of the front wheel leg walking mechanism (3) and the rear wheel leg walking mechanism (4) include a folding connecting rod assembly (104), a shock absorber (103) and a lever (102), which can enable the wheel walking mechanisms of the front wheel leg walking mechanism and the rear wheel leg walking mechanism to telescope along an inclined direction; The left and right sides of the fuselage (8) are symmetrically provided with constant force supporting sliding skirt mechanisms (6) capable of assisting in supporting the diagonal belly bars in the spatial steel structure; The constant force supporting sliding skirt mechanism (6) comprises a connecting rod assembly and two skirt rods (61) arranged in parallel up and down. The connecting rod assembly comprises a constant force spring rod (63) and two connecting rods (62) arranged up and down. One end of the connecting rod (62) located at the top is rotatably connected to the side of the fuselage (8) and the other end is rotatably connected to the skirt rod (61) located at the top. One end of the connecting rod (62) located at the bottom is rotatably connected to the side of the fuselage (8) and the other end is rotatably connected to the skirt rod (61) located at the bottom. One end of the constant force spring rod (63) is rotatably connected to the connecting rod (62) located at the top and the other end is rotatably connected to the connecting rod (62) located at the bottom.

2. The composite wheel-leg-skirt robot for space steel structure according to claim 1 is characterized in that: The wheel travel mechanism comprises an upper wheel frame (31), a lower wheel frame (32), a travel power motor (36), a belt pulley shaft (35) and a belt turntable (33); the upper and lower ends of the upper wheel frame (31) are respectively connected to the folding mechanism and the lower wheel frame (32); the belt turntable (33) is rotatably mounted on the upper part of the lower wheel frame (32); the belt pulley shaft (35) is rotatably mounted on the lower part of the lower wheel frame (32); and the belt turntable (33) is transmission-connected to the belt pulley shaft (35) via a belt (34); The travel power motor (36) is arranged on the outer wall of the lower wheel frame (32), the output shaft of the travel power motor (36) is connected to the belt turntable (33), and the left and right shaft ends of the pulley shaft (35) are respectively fixed with driving side wheels (37).

3. The composite wheel-leg-skirt robot for space steel structure according to claim 2 is characterized in that: The symmetrical telescopic mechanism (9) comprises two upper connecting rods (92) and two lower connecting rods (91), the lower ends of the two lower connecting rods (91) are rotatably connected to the top end of the upper wheel frame (31), and the upper ends of the two lower connecting rods (91) are respectively hinged to the lower ends of the two upper connecting rods (92); A connecting seat is provided at the bottom of the body (8), and two rotating shafts are rotatably mounted on the connecting seat respectively. An opening and closing gear (93) that meshes with each other is fixed at one end of the two rotating shafts. A synchronous opening and closing motor (94) is fixed on the connecting seat, and the output shaft of the synchronous opening and closing motor (94) is connected to one of the rotating shafts; the upper ends of the two upper connecting rods (92) are fixedly connected to the two rotating shafts respectively.

4. The composite wheel-leg-skirt robot for space steel structure according to claim 2 is characterized in that: The folding connecting rod assembly (104) comprises a cross rod (1041), a top long rod (1042), a top short rod (1043), a bottom long rod (1044) and a bottom short rod (1045); A connecting shaft is fixed to the upper end of the shifting rod (102), and the connecting shaft is swivel-mounted at the bottom of the fuselage (8) through a support assembly; the lower end of the shifting rod (102) and the lower end of the top short rod (1043) are hinged to one end of the top of the cross rod (1041); the lower end of the top long rod (1042) is hinged to the other end of the top of the cross rod (1041); the upper end of the top long rod (1042) is hinged to the bottom of the fuselage (8); and the upper end of the top short rod (1043) is hinged to the middle position of the top long rod (1042); The upper ends of the bottom long rod (1044) and the bottom short rod (1045) are respectively hinged to the two ends of the bottom of the cross rod (1041); the lower end of the bottom short rod (1045) is hinged to the middle position of the bottom long rod (1044); the lower end of the bottom long rod (1044) is hinged to the top end of the upper wheel frame (31); one end of the shock absorber (103) is hinged to the middle position of the bottom long rod (1044) and the other end is hinged to the side of the upper wheel frame (31).

5. The composite wheel-leg-skirt robot for space steel structure according to claim 4 is characterized in that: The front wheel leg walking mechanism (3) and the rear wheel leg walking mechanism (4) further comprise a telescopic drive motor (101), the telescopic drive motor (101) being fixed to the bottom of the fuselage (8), and the output shaft of the telescopic drive motor (101) being fixedly connected to the connecting shaft of the shifting rod (102).

6. The composite wheel-leg-skirt robot for space steel structure according to claim 1 is characterized in that: The environmental perception system comprises an array ultrasonic device (12) and a radar, wherein the array ultrasonic device (12) is arranged on the top of the fuselage (8); There are a plurality of radars, which are respectively arranged on the side surfaces of the upper wheel frame (31) of the front wheel leg walking mechanism (3), the middle wheel leg walking mechanism (5) and the rear wheel leg walking mechanism (4).

7. The composite wheel-leg-skirt robot for space steel structure according to claim 1 is characterized in that: The operating system comprises an internal spraying mechanism (7) and two sets of six-axis robotic arms (1) with spray heads, wherein one set of six-axis robotic arms (1) is installed at the rear end of the fuselage (8), and the other set of six-axis robotic arms (1) is installed at a position on the top surface of the fuselage (8) close to the front end; The internal spraying mechanism (7) comprises a rotating motor (72), a rotating rod (71), a swinging motor (73) and a main spray head, wherein the rotating motor (72) is arranged on the front end surface of the machine body (8), the rotating rod (71) is mounted on the output shaft of the rotating motor (72), the swinging motor (73) is mounted on the rotating rod (71), and the main spray head is mounted on the output shaft of the swinging motor (73).

8. The composite wheel-leg-skirt robot facing the space steel structure according to any one of claims 1 to 7, characterized in that: In the constant force supporting sliding skirt mechanism (6), the connecting rod assembly is divided into two groups distributed front and back.

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