Intelligent climbing robot based on bidirectional butt joint locking adaptive variable cross-section column

Abstract

The invention discloses an intelligent climbing robot based on a bidirectional butt joint locking adaptive variable cross-section column in the technical field of mechanical engineering robots, the intelligent climbing robot comprises a climbing robot body and a controller, the climbing robot body comprises two hinge strip frameworks, and bidirectional locking assemblies are arranged at the two ends of each hinge strip framework; working cabins are fixedly connected to the outer sides of the circumferences of the hinge strip frameworks, dust collectors are fixedly connected to the outer side walls of the working cabins, power assemblies, spraying assemblies and grinding assemblies are fixedly connected to the top walls of the working cabins, and the grinding assemblies are in signal connection with the controller; the controller is preset with a trained convolutional neural network, the convolutional neural network is trained based on a loss data model of the grinding assembly, the convolutional neural network is used for inputting the grinding area and outputting the abrasion size of the grinding assembly, and the controller is used for controlling the grinding depth of the grinding assembly according to the abrasion size. The device is simple and easy to use, the controller obtains the polishing wheel loss size according to the polishing historical area of the polishing wheel, the polishing depth is changed, and therefore uniform polishing of large-area rust is guaranteed.

Description

Technical Field

[0001] The invention belongs to the technical field of mechanical engineering robots, and in particular is a climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns. Background Art

[0002] There are a large number of supporting columns in large passenger stations such as high-speed railway stations and airports. During the use of these stations, environmental corrosion, wind loads or equipment vibration effects will cause varying degrees of damage to the building structure. If these structural damages cannot be discovered and repaired in time, it will inevitably affect the basic functions of the building and the normal transportation of passengers and goods, and even bring safety hazards to passengers and staff. Therefore, regular inspection and maintenance work is a necessary task for transportation units.

[0003] With the development of the times, a large number of infrastructure projects have entered the maintenance stage from the construction stage. Although the railway bureaus and stations have formed some maintenance equipment, these ordinary equipment such as sandblasting rust removers, shot blasting rust removers and high-pressure water jet rust removers have a low degree of automation, and there is room for improvement in targeting and operability. Since rust removal equipment is often manually operated at a fixed point and the degree of equipment integration is low, the uniformity and quality of rust removal work are difficult to guarantee.

[0004] Therefore, it is necessary to propose a climbing intelligent robot that can change the depth of the grinding tool according to the grinding area to evenly grind large-area surface rust of large steel columns and is based on two-way docking and locking to adapt to variable-section columns. Summary of the invention

[0005] In order to solve the above problems, the purpose of the present invention is to provide a climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns. The convolutional neural network of the controller calculates the grinding history area and obtains the grinding wheel loss size according to the gyroscope and inertial sensor data, and changes the grinding depth to ensure uniform grinding of large areas of rust.

[0006] In order to achieve the above-mentioned purpose, the technical scheme of the present invention is as follows: a climbing intelligent robot based on two-way docking and locking to adapt to variable-section columns, including a climbing robot and a controller, the climbing robot including two hinge bar skeletons, the hinge bar skeletons each including a plurality of hollow skeleton hinges, the middle of the hinge bar skeletons are hinged with a load-bearing hinge, the inner and outer peripheries of the skeleton hinges are both connected to the outside, and two ends of the hinge bar skeletons are provided with two-way locking components, the two-way locking components are used to dock and lock the two ends of the two hinge bar skeletons on the variable-section column to form an annular structure;

[0007] A working cabin is fixedly connected to the outer side of the bearing hinge circumference, a controller is arranged in the working cabin, the working cabin is connected to the outside world on both sides of the two ends of the hinge bar frame, a power assembly is fixedly connected to the top wall of the working cabin, the power assembly extends to the hollow interior of the frame hinge, a spraying assembly is fixedly connected to the top wall of the working cabin, a vacuum cleaner is fixedly connected to the outer wall of the working cabin, a grinding assembly is fixedly connected to the top wall of the working cabin, the grinding assembly is connected to the controller signal, and the grinding assembly is used to drive the rotation grinding and control the grinding depth;

[0008] The controller is preset with a trained convolutional neural network, which is trained based on a loss data model of a polishing component. The convolutional neural network is used to input a polishing area and output a wear size of the polishing component. The controller is used to control the polishing depth of the polishing component according to the wear size of the polishing component.

[0009] The principle of the basic solution is: the climbing robot is composed of two basic hinged bar skeletons, each hinged bar skeleton is hinged by a number of skeleton hinges and a middle load-bearing hinge, the skeleton hinge is in an arc shape, and the inner circumference of the skeleton hinge arc is connected to the outer circumference. The inner circumference of the two hinged bar skeletons is placed in front of the steel column, and the two-way locking assembly at the end of the hinged bar skeleton is used to align and lock it, so as to enhance the pressure exerted by the climbing robot on the surface of the steel column and improve the surface friction of the inclined power assembly. At this time, the inclined power assembly is started, driving the entire climbing robot to move axially and rotate circumferentially along the steel column, and gradually and steadily climb to the top of the steel column. When the steel column is When the column cross-section gradually changes, the two-way locking assembly can be tightened to adapt to columns with different cross-sections. Similarly, when the posture needs to be readjusted due to unexpected circumstances, the two-way locking assembly cooperates with the power assembly to adjust the horizontal angle of the climbing robot. When it rises close to the top, it moves in the opposite direction and starts rust removal and spraying. The grinding assembly set on the top wall of the working cabin starts to grind the surface of the steel column. The circumferential rotation of the climbing robot adjusts the grinding position for the grinding assembly. The controller calculates the wear size of the grinding wheel based on the relevant motion sensor data and the grinding wheel loss data model, and gradually increases the grinding depth of the grinding wheel to ensure that large areas of rust on the steel column are evenly polished.

[0010] After sanding, the spraying assembly is followed by repainting the sanded area, and the dust generated during the sanding process and the rust stains adhering to the power components are recovered by a vacuum cleaner.

[0011] The beneficial effects of the basic scheme are: 1. The convolutional neural network trained by the grinding wheel wear data model can calculate the degree of wear of the grinding wheel, provide data for the grinding components for grinding large areas of rust and control the grinding depth, so as to evenly grind large areas of rust, thereby improving the quality of grinding and spraying work and avoiding ineffective grinding and excessive grinding.

[0012] 2. The climbing robot is driven to rotate circumferentially and move axially on the steel column through the power component and the inclined upward arrangement, providing stable working motion for the grinding component and the spraying component, reducing the power components required in the grinding component and the spraying component of the climbing robot, reducing the design difficulty and component requirements of the climbing robot, and also reducing the production cost of the climbing robot.

[0013] 3. The hinged connection of each frame hinge in the hinge bar frame gives the climbing robot frame a certain flexibility, which provides a basis for the climbing robot to adapt to columns of different cross-sections. With the two-way locking assembly, it can work on the surface of steel columns of various thicknesses.

[0014] 4. Through the two-way locking of the two-way locking assembly, the climbing robot is provided with pressure to stay on the surface of the steel column. At the same time, the friction of the power assembly on the surface of the steel column is enhanced. The degree of locking can be adjusted in real time to facilitate the climbing robot to adjust its posture when encountering unexpected situations on the steel column. It provides the climbing robot with movement stability on the steel column and improves the efficiency and quality of the grinding work.

[0015] 5. Through the parallel design of grinding components and spraying components, the grinding position of the steel column can be painted and sprayed as soon as possible to avoid rust damage in the grinding area. At the same time, it also avoids repeated spraying work after grinding. Instead, grinding and spraying are carried out immediately, which speeds up the rust removal and spraying work on the surface of the steel column and improves the efficiency and quality of rust removal and spraying work.

[0016] 6. By installing a vacuum cleaner, the dust generated by rust removal and grinding of the grinding components can be recovered in time to avoid polluting the indoor air environment and preventing dust from entering the climbing robot and affecting its normal work. The vacuum cleaner can cooperate with the power component to remove rust stains adhering to the surface of the power component, maintain the cleanliness of the climbing robot and keep the climbing robot in normal working condition.

[0017] Furthermore, the grinding assembly includes a support frame, a grinding motor is fixedly connected to the top of the support frame, the output shaft of the grinding motor extends upwardly toward the inner arc side of the hinge bar skeleton ring structure and the top is fixedly connected to an electric cylinder, a slip ring is slidably sleeved on the output shaft of the grinding motor, the slip ring is used to supply power to the electric cylinder, and a grinding wheel is fixedly connected to the rod end of the electric cylinder.

[0018] The beneficial effects of the basic solution are: the grinding motor in the grinding assembly provides rotational grinding motion for the grinding wheel, and the electric cylinder provides axial motion for the grinding wheel to change the grinding depth. This is the basis for controlling the grinding wheel to achieve uniform grinding effect on large-area rust. At the same time, the slip ring can ensure the power supply of the electric cylinder fixedly connected to the output shaft of the grinding motor, thereby enhancing the work quality of large-area grinding of steel columns.

[0019] Furthermore, the grinding assembly includes a gyroscope and an inertial sensor, both of which are built into the support frame. The controller is used to obtain detection data from the gyroscope and the inertial sensor, generate a grinding wheel movement trajectory, and calculate the grinding wheel grinding history area.

[0020] The beneficial effect of the basic scheme is: the motion trajectory of the climbing robot's circumferential rotation and the grinding area data of the grinding wheel are collected through the gyroscope and inertial sensors, and then the controller is used to calculate the wear size of the grinding wheel based on these data, change the grinding depth of the grinding wheel, and improve the uniform grinding quality of large-area rust.

[0021] Furthermore, the spraying assembly includes a support rod, a nozzle is fixedly sleeved on the top of the support rod, the top of the nozzle is connected to a nozzle facing the inner side of the arc of the hinge bar frame, the bottom end of the nozzle passes through the outer wall of the working cabin and is connected to a liquid storage tank, a water pump is connected between the nozzle and the liquid storage tank, the liquid storage tank is built into the working cabin, and the top side wall of the liquid storage tank is connected to a liquid filling pipe.

[0022] The beneficial effect of the basic solution is that through the nozzle arranged in parallel with the grinding wheel, the grinding area can be sprayed with paint after grinding, avoiding rusting of the grinding area again, ensuring the quality of rust removal and painting work, reducing the process of rust removal and painting work, and improving work efficiency.

[0023] Furthermore, the support frame is fixedly connected to an external dust suction pipe of the vacuum cleaner, the top end of the external dust suction pipe extends to the bottom of the electric cylinder, the bottom end of the external dust suction pipe is connected to the vacuum cleaner, and the inner side wall of the working cabin is fixedly connected to an inner dust suction pipe, which passes through the inner side wall of the working cabin and is connected to the vacuum cleaner.

[0024] The beneficial effects of the basic solution are: the dust generated during the grinding process and the rust stains adhering to the surface of the power component are recovered through the outer dust suction pipe and the inner dust suction pipe of the vacuum cleaner, thereby reducing the indoor environmental pollution caused by the climbing robot's rust removal and painting work on the steel columns, avoiding the health hazards of inhalation of dust by staff and passengers, and avoiding dust and residue from entering the climbing robot and affecting its normal work.

[0025] Furthermore, the power assembly includes a power motor, which is fixedly connected to the top wall of the load-bearing hinge. The power motor output shaft extends obliquely downward into the hollow interior of the load-bearing hinge. The power motor output shaft is coaxially fixedly connected to a power track wheel inside the load-bearing hinge. The power motor output shaft is rotatably connected to the top wall of the load-bearing hinge. The power track wheel extends circumferentially from both the inner and outer circumferences of the load-bearing hinge and is meshed with a track.

[0026] The beneficial effects of the basic solution are: by engaging the powered track wheels with the inner side of the inner circumference and the inner side of the outer circumference of the track, the meshing effect of the powered track wheels on the track is enhanced, and the power motor can more easily drive the rotation of the track, so that the climbing robot as a whole can rotate and move axially on the surface of the steel column, providing power for rust removal and painting work and the climbing of the climbing robot.

[0027] Furthermore, the power assembly includes a plurality of tension track wheels, all of which have the same inclination angle as the power track wheel, the top and bottom ends of the tension track wheel shafts are fixedly connected to the frame hinges, the tension track wheels are engaged with the tracks, the tracks are obliquely installed in the middle of the hinge bar frame, and the side of the track close to the spraying assembly is higher than the side close to the grinding assembly.

[0028] The beneficial effect of the basic scheme is: through the setting of various tensioning track wheels, the track can provide a more fitting arc shape on the surface of the steel column, so as to increase the contact surface area and friction between the track and the steel column surface, and provide better stability for the climbing movement of the climbing robot.

[0029] Furthermore, the power component also includes a limiting roller, the outer periphery of which is fixedly connected to a brush layer, the brush layer rollingly cooperates with the outer surface of the track, the inner periphery of the limiting roller brush is rotatably connected to a roller shaft, and the top and bottom ends of the roller shaft are respectively fixedly connected to the top wall and bottom wall of the working cabin.

[0030] The beneficial effect of the basic scheme is: the limiting roller can not only easily remove the rust stains adhering to the outer surface of the track, but also enhance the stability of the meshing between the inner side of the track and the power track wheel, thereby ensuring the normal operation of the climbing robot and improving the climbing movement stability of the climbing robot.

[0031] Furthermore, the two-way locking assembly includes several locking motors, which are fixedly connected to the inner walls of the skeleton hinges at the ends of the two hinge bar skeletons. The output shafts of the locking motors are coaxially fixedly connected with a screw rod, which extends toward the hinge bar skeleton. The inner walls of the skeleton hinges at the ends of the hinge bar skeleton are fixedly connected with several locking nuts, and the screw rods and locking nuts between the ends of the hinge bar skeleton correspond to each other.

[0032] The beneficial effect of the basic solution is: by setting the locking motor, screw and locking nut at the end of the hinge bar frame, the ends of the two hinge bar frames can be locked with each other, ensuring the stability of the climbing robot structure during climbing projects, and allowing the climbing robot to adjust the locking strength when needed.

[0033] Furthermore, the two-way locking assembly also includes an electromagnet, and a magnet track is slidably sleeved on the outside of the electromagnet and fixedly connected to the inner wall of the skeleton hinge at the end of the hinge bar skeleton. A plurality of springs are fixedly connected to the inner wall of the electromagnet, and the end of the spring away from the electromagnet is fixedly connected to the inner wall of the magnet track.

[0034] The beneficial effect of the basic solution is that the ends of the two hinge bar skeletons can be easily docked through the electromagnet in the locking assembly. At the same time, the adsorption effect of the electromagnet also provides a certain locking effect for the climbing robot and provides stability support when the climbing robot climbs thicker steel columns. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 It is an axonometric diagram of a climbing intelligent robot that adapts to variable-section columns based on bidirectional docking and locking in an embodiment of the present invention.

[0036] Figure 2 It is a top sectional view of a climbing intelligent robot that adapts to variable-section columns based on bidirectional docking and locking in an embodiment of the present invention.

[0037] Figure 3 It is a side view of a climbing intelligent robot that adapts to variable-section columns based on bidirectional docking and locking in an embodiment of the present invention.

[0038] The figure marks in the drawings of the specification include: 1. controller; 2. working cabin; 3. vacuum cleaner; 4. liquid storage tank; 5. water pump; 6. load-bearing hinge; 7. skeleton hinge; 8. hinge bar skeleton; 9. magnet track; 10. spring; 11. locking motor; 12. screw rod; 13. electromagnet; 14. locking nut; 15. tensioning track wheel; 16. brush layer; 17. roller shaft; 18. inner dust suction pipe; 19. power track wheel; 20. track; 21. filling pipe; 22. outer dust suction pipe; 23. support frame; 24. nozzle; 25. grinding wheel; 26. electric cylinder; 27. slip ring; 28. grinding motor; 29. ​​gyroscope; 30. inertial sensor; 31. power motor; 32. nozzle; 33. support rod; 34. limit roller. DETAILED DESCRIPTION

[0039] The following is further described in detail through specific implementation methods:

[0040] Embodiment 1:

[0041] Basically as attached Figure 1 , Figure 2 and Figure 3 As shown: A climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns, including a climbing robot and a controller 1, the climbing robot includes two hinge bar skeletons 8, the hinge bar skeletons 8 each include a plurality of hollow skeleton hinges 7, the middle of the hinge bar skeletons 8 are hinged with a load-bearing hinge 6, the inner and outer circumferential sides of the skeleton hinge 7 are both connected to the outside, and both ends of the hinge bar skeleton 8 are welded with bidirectional locking components, which are used to dock and lock the two ends of the two hinge bar skeletons 8 on the variable-section column to form a ring-shaped structure;

[0042] A working cabin 2 is welded on the outer side of the circumference of the load-bearing hinge 6, and the controller 1 is arranged in the working cabin 2. The working cabin 2 is connected to the outside world on both sides facing the two ends of the hinge bar frame 8. A power component is welded on the top wall of the working cabin 2, and the power component includes a power motor 31. The power motor 31 is welded to the top wall of the load-bearing hinge 6, and the output shaft of the power motor 31 extends obliquely downward into the hollow interior of the load-bearing hinge 6. The output shaft of the power motor 31 is coaxially welded with a power track wheel 19 inside the load-bearing hinge 6. The output shaft of the power motor 31 is rotatably connected to the top wall of the load-bearing hinge 6, and the power track wheel 19 extends circumferentially from both sides of the inner and outer circumference of the load-bearing hinge 6 and is meshed with a track 20.

[0043] A spray assembly is welded to the top wall of the working cabin 2, and the spray assembly includes a support rod 33, a nozzle 24 is clamped on the top of the support rod 33, the top of the nozzle 24 is connected to a nozzle 32 facing the inner side of the arc of the hinge bar frame 8, the bottom end of the nozzle 24 passes through the outer wall of the working cabin 2 and is connected to a liquid storage tank 4, a water pump 5 is connected between the nozzle 24 and the liquid storage tank 4, the liquid storage tank 4 is built into the working cabin 2, and the top side wall of the liquid storage tank 4 is connected to a liquid filling pipe 21.

[0044] A grinding assembly is welded to the top wall of the working cabin 2, and the grinding assembly is connected to the controller 1 by signal. The grinding assembly includes a support frame 23, and a grinding motor 28 is welded to the top of the support frame 23. The output shaft of the grinding motor 28 extends upwardly and obliquely toward the inner arc side of the annular structure of the hinge bar skeleton 8, and an electric cylinder 26 is welded to the top. A slip ring 27 is slidably sleeved on the output shaft of the grinding motor 28. The slip ring 27 is used to supply power to the electric cylinder 26 to prevent the power supply line of the electric cylinder 26 from being entangled with the grinding output shaft. A grinding wheel 25 is bolted to the rod end of the electric cylinder 26, and a gyroscope 29 and an inertial sensor 30 are bonded to the support frame 23. The controller 1 is used to obtain the detection data of the gyroscope 29 and the inertial sensor 30, generate the movement trajectory of the grinding wheel 25, and calculate the historical grinding area of ​​the grinding wheel 25.

[0045] The track 20 that is not engaged with the power track wheel 19 is engaged with several tensioning track wheels 15, and the tensioning track wheels 15 are all at the same inclination angle as the power track 20. The top and bottom ends of the rotating shaft of the tensioning track wheel 15 are fixedly connected to the skeleton hinge 7. The track 20 is installed obliquely in the middle of the hinge bar skeleton 8, and the side of the track 20 close to the spraying component is higher than the side close to the grinding component; a roller shaft 17 vertically parallel to the output shaft of the power motor 31 is welded to the inner wall of the working cabin 2, and a limiting roller 34 is rotatably connected to the middle of the roller shaft 17, and a brush layer 16 is bonded to the outer periphery of the limiting roller 34, and the brush layer 16 rolls with the outer surface of the track 20.

[0046] The controller 1 is preset with a trained convolutional neural network, which is trained based on the loss data model of the grinding component. The convolutional neural network is used to input the grinding area and output the wear size of the grinding wheel 25, which is provided to the controller 1 to control the grinding wheel 25 to adjust the grinding depth.

[0047] A vacuum cleaner 3 is fixedly connected to the outer wall of the working cabin 2, an external dust suction pipe 22 of the vacuum cleaner 3 is bonded to the support frame 23, the top end of the external dust suction pipe 22 extends to below the electric cylinder 26, the bottom end of the external dust suction pipe 22 is connected to the vacuum cleaner 3, and an internal dust suction pipe 18 is bonded to the inner wall of the working cabin 2, and the internal dust suction pipe 18 passes through the inner wall of the working cabin 2 and is connected to the vacuum cleaner 3.

[0048] The specific implementation process is as follows: the staff will surround the two hinged bar skeletons 8 around the steel column that needs to be derusted and painted, and lock the two hinged bar skeletons 8 through the two-way locking assembly to form a complete ring-shaped climbing robot, and then adjust the posture of the climbing robot and continue to use the two-way locking assembly to lock the climbing robot and the steel column, thereby increasing the pressure of the climbing robot on the steel column and the friction between the two. The hinged bar skeleton 8 articulated by multi-section arc hinges can bend appropriately with the steel column, and the track 20 opened by the tensioning track wheel 15 can improve the fit of the climbing robot power assembly to the surface of the steel column. Then turn on the climbing robot's power assembly and the vacuum cleaner 3, and the output shaft of the power motor 31 in the power assembly drives the power track wheel 19 to rotate, driving the track 20 inclined relative to the steel column to fit the surface of the steel column and move obliquely upward and downward under the guidance of the tensioning track wheel 15. The crawlers 20 located on the two hinged bar skeletons 8 drive the climbing robot to rotate circumferentially around the steel column and ascend in the axial direction of the steel column in a balanced manner. The climbing robot gradually rotates and rises as a whole. The crawlers 20 press over the surface of the steel column and there may be rust stains on the surface of the steel column. When the rust stains run with the crawlers 20 to the outside of the power track wheel 19, they are brushed off by the brush layer 16 on the surface of the limiting roller 34 and are sucked and recovered by the turned on vacuum cleaner 3 through the internal vacuum pipe 18 to prevent the rust stains from falling into the working cabin 2 or the power component and affecting normal operation. In the climbing process, if the diameter of the steel column changes or an unexpected situation requires adjustment of the posture, the climbing robot can change the locking strength of the two-way locking component, and then adjust the posture of the climbing robot on the steel column to a horizontal state of normal operation through the running direction and running speed difference between the crawlers 20 on the two hinged bar skeletons 8.

[0049] After the climbing robot climbs to the top of the steel column, the power motor 31 rotates in the reverse direction to drive the climbing robot to rotate in the reverse direction and descend. At the same time, the grinding component and the spraying component on the climbing robot are turned on. The circumferential rotation of the climbing robot during the ascent and descent process provides a working motion trajectory for the grinding component and the spraying component, reducing unnecessary power components. The inclined grinding motor 28 output shaft in the grinding component is turned on to drive the electric cylinder 26 and the grinding wheel 25 to rotate. The electric cylinder 26 extends to press the grinding wheel 25 to the surface of the steel column for grinding. At the same time, the gyroscope 29 and the inertial sensor 30 on the support frame 23 collect the grinding motion trajectory of the grinding wheel 25, and the controller 1 calculates the historical grinding area of ​​the grinding wheel 25 and the wear size of the grinding wheel 25, thereby extending again. The long electric cylinder 26 fits the grinding wheel 25 to the surface of the steel column to maintain a uniform grinding effect on large-area rust during the grinding process. During this process, the vacuum cleaner 3 sucks in and recycles the dust and rust stains generated by the grinding through the external dust suction pipe 22 arranged below the electric cylinder 26, thereby avoiding air pollution in the building during the rust removal of the steel column and ensuring the normal operation of the climbing robot. In addition, the spraying component behind the grinding component in the motion trajectory will repaint the polished position in time to avoid short-term rust on the steel column, and also simplifies the work steps of rust removal and painting on the surface of the steel column. In addition, grinding and painting on the top of the climbing robot during the descent project can avoid stains and paint scraping caused by the climbing robot track 20 rolling again, thereby improving the work efficiency and quality of rust removal and painting.

[0050] Embodiment 2:

[0051] The difference from the above embodiment is that, as shown in the attached Figure 1 , Figure 2 As shown: the two-way locking assembly includes a plurality of locking motors 11, and the locking motors 11 are welded to the inner walls of the skeleton hinges 7 at the ends of the two hinge bar skeletons 8. The output shafts of the locking motors 11 are coaxially welded with screw rods 12, and the screw rods 12 extend toward the other hinge bar skeleton 8. A plurality of locking nuts 14 are welded to the inner wall of the skeleton hinge 7 at the end of the hinge bar skeleton 8, and the screw rods 12 and locking nuts 14 at the end of the hinge bar skeleton 8 correspond to each other; a magnet track 9 is welded to the middle part of the inner wall of the skeleton hinge 7 at the end of the hinge bar skeleton 8, and an electromagnet 13 is slidably sleeved in the magnet track 9, and a plurality of springs 10 are welded to the inner wall of the electromagnet 13, and the ends of the springs 10 away from the electromagnet 13 are welded to the inner wall of the magnet track 9.

[0052] The specific implementation process is as follows: the two-way locking components located at the ends of the two hinge bar skeletons 8 correspond to each other, and can realize the functions of locking the corresponding electric screw rods 12 and adsorbing the electromagnets 13, so as to lock and fix the two hinge bar skeletons 8 to form a ring. During the installation of the climbing robot, the staff aligns the ends of the hinge bar skeletons 8, the screw rods 12 and the locking nuts 14 by energizing the electromagnets 13 that attract each other, so as to improve the installation efficiency of the staff. During the climbing and descending process of the climbing robot, the locking motor 11 controls the locking strength of the screw rods 12 and the locking nuts 14, and cooperates with the power component to adjust the movement posture of the climbing robot. At this time, the electromagnet 13 still maintains the adsorption and locking state to prevent the climbing robot from falling off the steel column. When the climbing robot adapts to steel columns of different thicknesses, the electromagnet 13 continues to adsorb and lock and pull the climbing robot to be fixed on the surface of the steel column, providing assistance for the locking function of the screw rods 12 and the locking nuts 14.

[0053] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0054] The above is only an embodiment of the present invention. The common sense such as the known specific structure and characteristics in the scheme is not described in detail here. The ordinary technicians in the relevant field know all the common technical knowledge in the technical field of the invention before the application date or priority date, can obtain all the existing technologies in the field, and have the ability to apply the conventional experimental means before that date. The ordinary technicians in the relevant field can improve and implement this scheme in combination with their own abilities under the enlightenment given by this application. Some typical known structures or known methods should not become obstacles for ordinary technicians in the relevant field to implement this application. It should be pointed out that for those skilled in the art, without departing from the structure of the present invention, several deformations and improvements can be made, which should also be regarded as the protection scope of the present invention, which will not affect the effect of the implementation of the present invention and the practicality of the patent. The protection scope required by this application shall be based on the content of its claims, and the specific implementation methods and other records in the specification can be used to interpret the content of the claims.

Claims

1. A climbing intelligent robot based on two-way docking and locking to adapt to variable-section columns, characterized by: The climbing robot comprises a climbing robot and a controller (1), wherein the climbing robot comprises two hinged bar frames (8), each of the hinged bar frames (8) comprises a plurality of hollow frame hinges (7), a load-bearing hinge (6) is hingedly connected in the middle of each of the hinged bar frames (8), both inner and outer peripheries of the frame hinges (7) are connected to the outside, and both ends of the hinged bar frames (8) are provided with bidirectional locking components, which are used to butt and lock the two ends of the two hinged bar frames (8) on a variable-section column to form a ring-shaped structure; The outer side of the bearing hinge (6) is fixedly connected to a working cabin (2), the controller (1) is arranged in the working cabin (2), the two sides of the working cabin (2) facing the two ends of the hinge bar frame (8) are connected to the outside, the top wall of the working cabin (2) is fixedly connected to a power component, the power component extends to the hollow interior of the frame hinge (7), the top wall of the working cabin (2) is fixedly connected to a spraying component, the outer wall of the working cabin (2) is fixedly connected to a vacuum cleaner (3), the top wall of the working cabin (2) is fixedly connected to a grinding component, the grinding component is connected to the controller (1) by signal, and the grinding component is used to drive rotational grinding and control the grinding depth. The controller (1) is preset with a trained convolutional neural network, the convolutional neural network is trained based on a loss data model of a grinding component, the convolutional neural network is used to input a grinding area and output a wear size of the grinding component, and the controller (1) is used to control the grinding depth of the grinding component according to the wear size of the grinding component.

2. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 1 is characterized in that: The grinding assembly comprises a support frame (23), a grinding motor (28) is fixedly connected to the top of the support frame (23), an output shaft of the grinding motor (28) extends upwardly and obliquely toward the inner arc side of the annular structure of the hinge bar frame (8), and an electric cylinder (26) is fixedly connected to the top of the output shaft, a slip ring (27) is slidably sleeved on the output shaft of the grinding motor (28), and the slip ring (27) is used to supply power to the electric cylinder (26), and a grinding wheel (25) is fixedly connected to the rod end of the electric cylinder (26).

3. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 2 is characterized in that: The grinding assembly comprises a gyroscope (29) and an inertial sensor (30), both of which are built into a support frame (23). The controller (1) is used to obtain detection data of the gyroscope (29) and the inertial sensor (30), generate a movement trajectory of the grinding wheel (25), and calculate the grinding history area of ​​the grinding wheel.

4. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 3 is characterized in that: The spraying assembly comprises a support rod (33), a nozzle (24) is fixedly sleeved on the top of the support rod (33), the top of the nozzle (24) is connected to a nozzle head (32) facing the inner side of the arc of the hinge bar frame (8), the bottom of the nozzle (24) passes through the outer wall of the working cabin (2) and is connected to a liquid storage tank (4), a water pump (5) is connected between the nozzle (24) and the liquid storage tank (4), the liquid storage tank (4) is built in the working cabin (2), and the top side wall of the liquid storage tank (4) is connected to a liquid filling pipe (21).

5. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 4 is characterized in that: The support frame (23) is fixedly connected to an external dust suction pipe (22) of the dust collector (3); the top end of the external dust suction pipe (22) extends to below the electric cylinder (26); the bottom end of the external dust suction pipe (22) is in communication with the dust collector (3); the inner wall of the working cabin (2) is fixedly connected to an internal dust suction pipe (18); the internal dust suction pipe (18) passes through the inner wall of the working cabin (2) and is in communication with the dust collector (3).

6. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 5 is characterized in that: The power assembly comprises a power motor (31), the power motor (31) is fixedly connected to the top wall of the load-bearing hinge (6), the output shaft of the power motor (31) extends obliquely downward into the hollow interior of the load-bearing hinge (6), the output shaft of the power motor (31) is coaxially fixedly connected to a power track wheel (19) inside the load-bearing hinge (6), the output shaft of the power motor (31) is rotatably connected to the top wall of the load-bearing hinge (6), the power track wheel (19) circumferentially extends out of both inner and outer circumferences of the load-bearing hinge (6) and is meshed with a track (20).

7. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 6 is characterized in that: The power assembly comprises a plurality of tension track wheels (15), the tension track wheels (15) are all inclined at the same angle as the power track wheels (19), the top and bottom ends of the rotation shafts of the tension track wheels (15) are fixedly connected to the frame hinge (7), the tension track wheels (15) are all meshed with the track (20), the track (20) is obliquely installed in the middle of the hinge bar frame (8), and the side of the track (20) close to the spraying assembly is higher than the side close to the grinding assembly.

8. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 6 is characterized in that: The power assembly also includes a limiting roller (34), the outer periphery of which is fixedly connected to a brush layer (16), the brush layer (16) rollingly cooperates with the outer surface of the track (20), the inner periphery of the limiting roller (34) is rotatably connected to a roller shaft (17), and the top and bottom ends of the roller shaft (17) are respectively fixedly connected to the top wall and bottom wall of the working cabin (2).

9. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 8 is characterized in that: The bidirectional locking assembly comprises a plurality of locking motors (11), the locking motors (11) are fixedly connected to the inner wall of the frame hinge (7) at the end of two hinge bar frames (8), the output shafts of the locking motors (11) are coaxially fixedly connected to a screw rod (12), the screw rod (12) extends toward the other hinge bar frame (8), the inner wall of the frame hinge (7) at the end of the hinge bar frame (8) is fixedly connected to a plurality of locking nuts (14), and the screw rod (12) and the locking nut (14) between the ends of the hinge bar frames (8) correspond to each other.

10. The climbing intelligent robot based on bidirectional docking and locking to adapt to variable-section columns according to claim 9 is characterized in that: The bidirectional locking assembly also includes an electromagnet (13), the outer side of the electromagnet (13) is slidably sleeved with a magnet track (9) fixedly connected to the inner wall of the frame hinge (7) at the end of the hinge bar frame (8), the inner side wall of the electromagnet (13) is fixedly connected to a plurality of springs (10), and the ends of the springs (10) away from the electromagnet (13) are fixedly connected to the inner side wall of the magnet track (9).

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