A climbing intelligent robot based on a two-way docking locking adaptive variable cross-section column

Abstract

The application discloses a kind of climbing intelligent robots based on two-way docking locking adaptive variable cross-section column in the technical field of mechanical engineering robot, including climbing robot and controller, climbing robot includes two hinged chain skeletons, both ends of hinged chain skeleton are equipped with two-way locking assembly, the circumferential outside of hinged chain skeleton is fixedly connected with work cabin, dust collector is fixedly connected on the outside wall of work cabin, power assembly, spraying assembly and polishing assembly are fixedly connected on the top wall of work cabin, and polishing assembly is signal connected with controller;Controller is preset with trained convolutional neural network, convolutional neural network is trained based on the wear data model of polishing assembly, and convolutional neural network is used to input polishing area and output polishing assembly wear size, and controller is used to control the polishing depth of polishing assembly according to wear size.The application is simple and easy to use, and the wear size of polishing wheel is obtained according to the polishing history area of polishing wheel, the polishing depth is changed to ensure uniform polishing of large area rust.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of mechanical engineering and robot technology, and particularly relates to a climbing intelligent robot based on bidirectional butt joint locking adaptive variable cross-section column. BACKGROUND

[0002] A large number of support columns are constructed in large passenger stations such as high-speed rail stations and airports to support buildings, and in the use process of these stations, environmental corrosion, wind load or equipment vibration effect will cause different degrees of damage to the structure of the building, if these structural damages cannot be found and repaired in time, it will inevitably affect the basic functions of the building and the normal passenger and cargo transportation work, and even bring safety hazards to passengers and staff, so regular detection and repair work is necessary for transportation units.

[0003] With the development of the times, a large number of infrastructure projects enter the maintenance stage from the construction stage, and although some maintenance equipment has been formed in the station section of the road bureau, the ordinary equipment such as the sand blasting deruster, the shot blasting deruster and the high-pressure water jet deruster has low automation degree, and the pertinence and operability still have room for improvement, since the derusting equipment is often manually operated at fixed points, and the equipment integration degree is low, the uniformity and quality of the derusting work are difficult to guarantee.

[0004] Therefore, it is necessary to provide a climbing intelligent robot based on bidirectional butt joint locking adaptive variable cross-section column which can change the grinding depth of the grinding tool according to the grinding area to uniformly grind large-area rust on the surface of a large steel column. SUMMARY

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

[0006] In order to achieve the above purpose, the technical scheme of the present application is as follows: a climbing intelligent robot based on bidirectional butt joint locking adaptive variable cross-section column, comprising a climbing robot and a controller, the climbing robot comprises two hinge link skeletons, each hinge link skeleton comprises a plurality of hollow skeleton hinges, the middle part of each hinge link skeleton is hingedly connected with a bearing hinge, the inner and outer circumferences of the skeleton hinge are in communication with the outside, and each end of the hinge link skeleton is provided with a bidirectional locking assembly, the bidirectional locking assembly is used for butt joint locking the two ends of the two hinge link skeletons on the variable cross-section column to form a ring-shaped structure.

[0007] A working chamber is fixedly connected to the outer circumference of the bearing hinge. The controller is located inside the working chamber. The two sides of the working chamber facing the two ends of the hinge frame are connected to the outside. A power component is fixedly connected to the top wall of the working chamber. The power component extends into the hollow interior of the frame hinge. A spraying component is fixedly connected to the top wall of the working chamber. A vacuum cleaner is fixedly connected to the outer wall of the working chamber. A grinding component is fixedly connected to the top wall of the working chamber. The grinding component is connected to the controller via signal. The grinding component is used to drive rotary grinding and control the grinding depth.

[0008] The controller is pre-trained with a convolutional neural network. The convolutional neural network is trained based on the wear data model of the grinding component. The convolutional neural network is used as input for the grinding area and output for the wear dimension of the grinding component. The controller is used to control the grinding depth of the grinding component according to the wear dimension of the grinding component.

[0009] The basic principle of the climbing robot is as follows: The climbing robot consists of two basic hinge frame skeletons. Each hinge frame skeleton is formed by several skeleton hinges and a central load-bearing hinge, which are hinged together. The skeleton hinges are arc-shaped, with the inner circumference of the arc connecting to the outer circumference. The inner circumferences of the two hinge frame skeletons are positioned in front of the steel column. The bidirectional locking components at the ends of the hinge frame skeletons are aligned and locked, increasing the pressure applied by the climbing robot on the steel column surface and improving the surface friction of the inclined power component. At this point, the inclined power component is activated, driving the entire climbing robot to move axially and rotate circumferentially along the steel column, gradually and steadily climbing and ascending to the top of the steel column. As the column cross-section gradually changes, the tightening of the bidirectional locking assembly can adapt to columns with different cross-sections. Similarly, when the posture needs to be readjusted due to unexpected circumstances, the bidirectional locking assembly, in conjunction with the power assembly, adjusts the horizontal angle of the climbing robot. When it rises to near the top, it moves in the opposite direction and begins the rust removal and spraying work. The grinding assembly set on the top wall of the work chamber begins to grind the surface of the steel column. The circumferential rotation of the climbing robot adjusts the grinding position of the grinding assembly. The controller calculates the wear size of the grinding wheel based on relevant motion sensor data and the grinding wheel wear data model, and gradually increases the grinding depth of the grinding wheel to ensure that the large area of ​​rust on the steel column is uniformly ground.

[0010] After sanding, the next step is to repaint the sanded area using the spraying component, while the dust generated during the sanding process and the rust stains adhering to the power components are collected by a vacuum cleaner.

[0011] The beneficial effects of the basic solution are: 1. The convolutional neural network trained by the grinding wheel wear data model can calculate the wear degree of the grinding wheel, provide data for grinding components for grinding large areas of rust and control the grinding depth, thereby performing uniform grinding of large areas of rust, thereby improving the quality of grinding and spraying work and avoiding ineffective grinding and over-grinding.

[0012] 2. By using a power unit in conjunction with an upwardly tilted arrangement, the climbing robot can rotate circumferentially and move axially along the steel column, providing stable working motion for the grinding and spraying components. This reduces the number of power units required in the grinding and spraying components of the climbing robot, lowers the design difficulty and component requirements of the climbing robot, and also reduces the production cost of the climbing robot.

[0013] 3. The hinges of each frame in the hinge bar skeleton are connected to each other, which gives the climbing robot a certain degree of flexibility. This provides a basis for the climbing robot to adapt to columns with different cross sections. With the help of the two-way locking components, it can work on the surface of steel columns of various thicknesses.

[0014] 4. The bidirectional locking assembly provides pressure for the climbing robot to stay on the steel column surface, while also enhancing the friction of the power component on the steel column surface. It can also adjust the degree of locking in real time to facilitate the climbing robot's posture adjustment when encountering unexpected situations on the steel column, thus improving the stability of the climbing robot's movement on the steel column and increasing the efficiency and quality of the grinding work.

[0015] 5. By using the parallel design of the grinding and spraying components, the area of ​​the steel column that has been ground can be painted as soon as possible to avoid rust damage to the ground area. It also avoids repeated spraying after grinding, and allows for immediate spraying after grinding, which speeds up the rust removal and spraying process on the surface of the steel column and improves the efficiency and quality of the rust removal and spraying work.

[0016] 6. By installing a vacuum cleaner, the dust generated during the rust removal and polishing of the grinding components can be collected in a timely manner, avoiding pollution of the indoor air environment and preventing dust from entering the climbing robot and affecting its normal operation. In addition, the vacuum cleaner, together with the power component, can remove rust stains adhering to the surface of the power component, maintaining the cleanliness of the climbing robot and keeping it in normal working condition.

[0017] Furthermore, the grinding assembly includes a support frame, with a grinding motor fixedly connected to the top of the support frame. The output shaft of the grinding motor extends upward at an angle toward the inner arc side of the hinge bar frame ring structure, and an electric cylinder is fixedly connected to its top. A slip ring is slidably sleeved on the output shaft of the grinding motor, and the slip ring is used to supply power to the electric cylinder. 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 the grinding wheel with rotational grinding motion, and the electric cylinder provides the grinding wheel with axial motion to change the grinding depth. This is the basis for controlling the grinding wheel to achieve a uniform grinding effect on a large area of ​​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, and enhance the working quality of grinding large areas of steel columns.

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

[0020] The beneficial effects of the basic solution are: by collecting the circumferential rotation trajectory of the climbing robot and the grinding area data of the grinding wheel through gyroscopes and inertial sensors, the controller can calculate the wear size of the grinding wheel based on the data, change the grinding depth of the grinding wheel, and improve the uniform grinding quality of large areas of rust.

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

[0022] The benefits of the basic solution are: by using a spray nozzle arranged in parallel with the grinding wheel, the ground area can be sprayed with paint after grinding, preventing the ground area from rusting again, ensuring the quality of the rust removal and painting work, reducing the number of steps in the rust removal and painting work, and improving work efficiency.

[0023] Furthermore, the support frame is fixedly connected to the outer suction pipe of the vacuum cleaner, the top of the outer suction pipe extends to the bottom of the electric cylinder, and the bottom of the outer suction pipe is connected to the vacuum cleaner. The inner suction pipe is fixedly connected to the inner side wall of the working chamber, and the inner suction pipe passes through the inner side wall of the working chamber and is connected to the vacuum cleaner.

[0024] The beneficial effects of the basic solution are: by collecting the dust generated during the polishing process and the rust stains adhering to the surface of the power components through the external and internal suction pipes of the vacuum cleaner, the indoor environmental pollution generated by the climbing robot during the rust removal and painting of the steel columns is reduced, the health hazards of inhaling dust for staff and passengers are avoided, and the normal operation of the climbing robot is also prevented from being affected by dust and residue entering the climbing robot.

[0025] Furthermore, the power assembly includes a power motor, which is fixedly connected to the top wall of the load-bearing hinge. The output shaft of the power motor extends downward at an angle into the hollow interior of the load-bearing hinge. A power track wheel is coaxially fixedly connected to the output shaft of the power motor inside the load-bearing hinge. The output shaft of the power motor is rotatably connected to the top wall of the load-bearing hinge. The circumference of the power track wheel extends out from the inner and outer circumferences of the load-bearing hinge and engages with a track.

[0026] The beneficial effects of the basic solution are: by engaging the inner and outer circumferences of the track with the powered track wheels, the engagement effect of the powered track wheels on the track is enhanced, and the power motor can more easily drive the track to rotate, enabling the climbing robot to rotate and move axially on the steel column surface, providing power for rust removal and painting work and the climbing of the robot.

[0027] Furthermore, the power assembly includes several tension track wheels, all of which are inclined at the same angle as the power track wheels. The top and bottom ends of the tension track wheel shafts are fixedly connected to the frame hinges. All tension track wheels mesh with the track. The track is installed at an angle in the middle of the hinge bar frame, with the side of the track closer to the painting component higher than the side closer to the grinding component.

[0028] The beneficial effects of the basic scheme are: by setting various tensioning track wheels, the track can provide a more closely fitting arc shape on the steel column surface, thereby increasing the surface area and friction force of the track and the steel column surface, and providing better stability for the climbing robot's climbing movement.

[0029] Furthermore, the power assembly also includes a limiting roller, with a brush layer fixedly connected to the outer periphery of the limiting roller. The brush layer rolls in contact with the outer surface of the track. A roller shaft is rotatably connected to the inner periphery of the limiting roller brush. The top and bottom ends of the roller shaft are fixedly connected to the top and bottom walls of the working chamber, respectively.

[0030] The beneficial effects of the basic solution are: the limiting rollers can not only easily remove 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 stability of the climbing robot's climbing movement.

[0031] Furthermore, the bidirectional locking assembly includes several locking motors, each of which is fixedly connected to the inner wall of the frame hinge at the end of the two hinge bar skeletons. The output shaft of each locking motor is coaxially fixedly connected to a lead screw, which extends toward the hinge bar skeleton. Several locking nuts are fixedly connected to the inner wall of the frame hinge at the end of the hinge bar skeleton, and the lead screw and locking nut between the ends of the hinge bar skeletons correspond to each other.

[0032] The beneficial effects of the basic scheme are: by setting the locking motor, lead screw and locking nut at the end of the hinge bar skeleton, the ends of the two hinge bar skeletons can be locked to each other, ensuring the stability of the climbing robot structure in the climbing project, and also allowing the climbing robot to adjust the locking strength when needed.

[0033] Furthermore, the bidirectional locking assembly also includes an electromagnet, with a magnetic track slidably fitted on the outer side of the electromagnet and fixedly connected to the inner wall of the frame hinge at the end of the hinge bar frame. Several springs are fixedly connected to the inner wall of the electromagnet, with the ends of the springs away from the electromagnet being fixedly connected to the inner wall of the magnetic track.

[0034] The beneficial effects of the basic scheme are: the electromagnet in the locking assembly enables relatively easy docking between the ends of the two hinge bars, and the electromagnet's attraction also provides a certain locking effect for the climbing robot, as well as providing stability support when the climbing robot climbs thicker steel columns. Attached Figure Description

[0035] Figure 1 This is an isometric view of a climbing intelligent robot based on a bidirectional docking and locking adaptive variable cross-section column in an embodiment of the present invention.

[0036] Figure 2 This is a top sectional view of a climbing intelligent robot based on a bidirectional docking locking adaptive variable cross-section column in an embodiment of the present invention.

[0037] Figure 3 This is a side view of a climbing intelligent robot based on a bidirectional docking and locking adaptive variable cross-section column, as described in an embodiment of the present invention.

[0038] The reference numerals in the accompanying drawings of the instruction manual include: 1. Controller; 2. Working chamber; 3. Vacuum cleaner; 4. Liquid storage tank; 5. Water pump; 6. Load-bearing hinge; 7. Skeleton hinge; 8. Hinge bar skeleton; 9. Magnetic track; 10. Spring; 11. Locking motor; 12. Lead screw; 13. Electromagnet; 14. Locking nut; 15. Tensioning track wheel; 16. Brush layer; 17. Roller shaft; 18. Inner suction pipe; 19. Power track wheel; 20. Track; 21. Liquid filling pipe; 22. Outer suction pipe; 23. Support frame; 24. Spray 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. Limiting roller. Detailed Implementation

[0039] The following detailed description illustrates the specific implementation method:

[0040] Example 1:

[0041] The basics are as follows: Figure 1 , Figure 2 and Figure 3 As shown: A climbing intelligent robot based on bidirectional docking and locking to adapt to a variable cross-section column includes a climbing robot and a controller 1. The climbing robot includes two hinge frame skeletons 8, each of which includes several hollow skeleton hinges 7. A load-bearing hinge 6 is hinged in the middle of each hinge frame skeleton 8. The inner and outer circumferences of the skeleton hinges 7 are connected to the outside. Bidirectional locking components are welded to both ends of the hinge frame skeleton 8. The bidirectional locking components are used to dock and lock the two ends of the two hinge frame skeletons 8 onto the variable cross-section column to form a ring structure.

[0042] The outer circumference of the bearing hinge 6 is welded with a working chamber 2. The controller 1 is set inside the working chamber 2. The working chamber 2 is connected to the outside on both sides facing the two ends of the hinge frame 8. The top wall of the working chamber 2 is welded with a power component, which includes a power motor 31. The power motor 31 is welded to the top wall of the bearing hinge 6. The output shaft of the power motor 31 extends downward at an angle into the hollow interior of the bearing hinge 6. The output shaft of the power motor 31 is coaxially welded with a power track wheel 19 inside the bearing hinge 6. The output shaft of the power motor 31 is rotatably connected to the top wall of the bearing hinge 6. The power track wheel 19 extends out of the inner and outer circumferences of the bearing hinge 6 and is engaged with a track 20.

[0043] The top wall of the working chamber 2 is welded with a spraying assembly, which includes a support rod 33. The top of the support rod 33 holds a spray pipe 24. The top of the spray pipe 24 is connected to a nozzle 32 facing the inner side of the arc of the hinge frame 8. The bottom end of the spray pipe 24 passes through the outer wall of the working chamber 2 and is connected to a liquid storage tank 4. A water pump 5 is connected between the spray pipe 24 and the liquid storage tank 4. The liquid storage tank 4 is built into the working chamber 2. 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 chamber 2. The grinding assembly is connected to the controller 1 via signal. The grinding assembly includes a support frame 23. A grinding motor 28 is welded to the top of the support frame 23. The output shaft of the grinding motor 28 extends upwards towards the inner arc side of the ring structure of the hinge frame 8, and an electric cylinder 26 is welded to its 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 getting tangled with the output shaft of the grinding motor. A grinding wheel 25 is bolted to the rod end of the electric cylinder 26. A gyroscope 29 and an inertial sensor 30 are bonded to the support frame 23. The controller 1 is used to acquire 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] Several tensioning track rollers 15 are engaged with the track 20 that is not engaged with the powered track roller 19. All tensioning track rollers 15 are at the same tilt angle as the powered track 20. The top and bottom ends of the tensioning track roller 15 shaft are fixedly connected to the frame hinge 7. The track 20 is installed at an angle in the middle of the hinge frame 8. The side of the track 20 closer to the painting component is higher than the side closer to the grinding component. A roller shaft 17 is welded to the inner wall of the working chamber 2. A roller shaft 17 is vertically parallel to the output shaft of the power motor 31. A limiting roller 34 is rotatably connected to the middle of the roller shaft 17. A brush layer 16 is bonded to the outer periphery of the limiting roller 34. The brush layer 16 rolls with the outer surface of the track 20.

[0046] The controller 1 is pre-trained with a convolutional neural network. The convolutional neural network 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 dimension of the grinding wheel 25, which is used to provide the controller 1 with the control of the grinding wheel 25 to adjust the grinding depth.

[0047] A vacuum cleaner 3 is fixedly connected to the outer wall of the working chamber 2. The outer suction pipe 22 of the vacuum cleaner 3 is glued to the support frame 23. The top end of the outer suction pipe 22 extends to the bottom of the electric cylinder 26, and the bottom end of the outer suction pipe 22 is connected to the vacuum cleaner 3. An inner suction pipe 18 is glued to the inner wall of the working chamber 2. The inner suction pipe 18 passes through the inner wall of the working chamber 2 and is connected to the vacuum cleaner 3.

[0048] The specific implementation process is as follows: Workers surround the steel column requiring rust removal and painting with two hinge frame skeletons 8, and lock the two hinge frame skeletons 8 together using a two-way locking assembly to form a complete ring-shaped climbing robot. Then, the climbing robot's posture is adjusted, and the two-way locking assembly is used again to lock the climbing robot and the steel column, thereby increasing the pressure of the climbing robot on the steel column and enhancing the friction between them. The hinge frame skeleton 8, formed by multiple sections of arc hinges, can bend appropriately to accommodate the steel column, and the tensioned track wheel 15's open track 20 improves the contact effect of the climbing robot's power component with the steel column surface. Then, the climbing robot's power component and vacuum cleaner 3 are activated. The output shaft of the power motor 31 in the power component drives the power track wheel 19 to rotate, causing the track 20, which is inclined relative to the steel column, to move obliquely upwards and downwards against the steel column surface under the guidance of the tensioned track wheel 15. The tracks 20 located on the two hinged frame 8 balance and drive the climbing robot to rotate circumferentially around the steel column and rise axially around the steel column. The climbing robot gradually rotates and rises. The tracks 20 may have rust stains adhering to the surface of the steel column. When the tracks 20 move to the outside of the power track wheel 19, the rust stains are brushed off by the brush layer 16 on the surface of the limit roller 34 and sucked in and recovered by the vacuum cleaner 3 through the inner suction pipe 18, so as to prevent the rust stains from falling into the working chamber 2 or the power component and affecting normal operation. If the diameter of the steel column changes or an unexpected situation requires adjustment of posture during the climbing process, 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 return to the normal working level by the difference in the rotation direction and running speed between the tracks 20 on the two hinged frame 8.

[0049] After the climbing robot reaches the top of the steel column, the power motor 31 rotates in the opposite direction, causing the climbing robot to descend in the opposite direction. Simultaneously, the grinding and painting components on the climbing robot are activated. The circumferential rotation of the climbing robot during ascent and descent provides the working motion trajectory for the grinding and painting components, reducing unnecessary power components. The output shaft of the inclined grinding motor 28 in the grinding component opens, driving the electric cylinder 26 and grinding wheel 25 to rotate. The electric cylinder 26 extends, pressing the grinding wheel 25 against the surface of the steel column for grinding. At the same time, the gyroscope 29 and inertial sensor 30 on the support frame 23 collect the grinding motion trajectory of the grinding wheel 25. The controller 1 calculates the historical grinding area and wear size of the grinding wheel 25, thereby triggering the next extension... The long electric cylinder 26 presses the grinding wheel 25 against the surface of the steel column, maintaining a uniform grinding effect on large areas of rust during the grinding process. During this process, the vacuum cleaner 3 sucks in and recovers the dust and rust generated during grinding through the external suction pipe 22 located below the electric cylinder 26, thereby avoiding air pollution in the building's interior during the steel column rust removal process and ensuring the normal operation of the climbing robot. In addition, the painting component after the grinding component will promptly repaint the ground area to prevent short-term steel column corrosion and simplify the rust removal and painting process on the steel column surface. Furthermore, grinding and painting on the top of the climbing robot during the descent process can prevent stains and paint from being scraped off by the climbing robot's tracks 20, thus improving the efficiency and quality of rust removal and painting.

[0050] Example 2:

[0051] The difference from the above embodiments is that, as shown in the appendix Figure 1 , Figure 2 As shown: The bidirectional locking assembly includes several locking motors 11, each of which is welded to the inner wall of the frame hinge 7 at the end of the two hinge bar frames 8. The output shafts of the locking motors 11 are coaxially welded with lead screws 12, which extend toward the other hinge bar frame 8. Several locking nuts 14 are welded to the inner wall of the frame hinge 7 at the end of the hinge bar frame 8, and the lead screws 12 and locking nuts 14 at the end of the hinge bar frame 8 correspond to each other. A magnet track 9 is welded to the middle of the inner wall of the frame hinge 7 at the end of the hinge bar frame 8. An electromagnet 13 is slidably sleeved in the magnet track 9. Several 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 all welded to the inner wall of the magnet track 9.

[0052] The specific implementation process is as follows: The bidirectional locking components located at the ends of the two hinge bar skeletons 8 correspond to each other, enabling the corresponding electric lead screws 12 and electromagnets 13 to be attracted, thereby locking and fixing the two hinge bar skeletons 8 to form a ring. During the installation of the climbing robot, the workers align the electromagnets 13, which are attracted by electricity, with the ends of the hinge bar skeletons 8, the lead screws 12, and the locking nuts 14, improving the efficiency of the workers' installation work. During the climbing robot's climbing and descending process, the locking motor 11 controls the locking strength of the lead screws 12 and the locking nuts 14, and adjusts the movement posture of the climbing robot in conjunction with the power component. At this time, the electromagnets 13 still maintain the attracted and locked state to prevent the climbing robot from falling off the steel column. When the climbing robot adapts to steel columns of different thicknesses, the electromagnets 13 continue to attract and lock and pull the climbing robot to fix it on the surface of the steel column, providing assistance for the locking function of the lead screws 12 and the locking nuts 14.

[0053] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0054] The above descriptions are merely embodiments of the present invention. Commonly known structures and characteristics are not described in detail here. Those skilled in the art are aware of all common technical knowledge in the field prior to the application date or priority date, are aware of all existing technologies in that field, and have the ability to apply conventional experimental methods prior to that date. Those skilled in the art can, under the guidance of this application, improve and implement this solution in combination with their own capabilities. Some typical known structures or methods should not be obstacles for those skilled in the art to implement this application. It should be noted that those skilled in the art can make several modifications and improvements without departing from the structure of the present invention. These should also be considered within the scope of protection of the present invention, and will not affect the effectiveness of the implementation of the present invention or the practicality of the patent. The scope of protection claimed in this application should be determined by the content of its claims, and the specific embodiments described in the specification can be used to interpret the content of the claims.

Claims

1. A climbing intelligent robot based on a variable cross-section column with a bidirectional docking lock, characterized in that: The climbing robot and the controller (1) are included, the climbing robot includes two hinged strip skeletons (8), each of the hinged strip skeletons (8) includes a plurality of hollow skeleton hinges (7), the middle part of each of the hinged strip skeletons (8) is hinged with a bearing hinge (6), the inner and outer peripheries of the skeleton hinges (7) are in communication with the outside world, and the two ends of each of the hinged strip skeletons (8) are provided with a bidirectional locking assembly for abutting and locking the two ends of the two hinged strip skeletons (8) on the variable cross-section column to form a ring-shaped structure. The bearing hinge (6) is fixedly connected with a work cabin (2) on the outer side of the circumference, the controller (1) is arranged in the work cabin (2), the two sides of the work cabin (2) towards the two ends of the hinged strip skeleton (8) are in communication with the outside world, the top wall of the work cabin (2) is fixedly connected with a power assembly, the power assembly extends into the hollow interior of the skeleton hinge (7), the top wall of the work cabin (2) is fixedly connected with a spraying assembly, the outer side wall of the work cabin (2) is fixedly connected with a dust collector (3), the top wall of the work cabin (2) is fixedly connected with a polishing assembly, the polishing assembly is signal-connected with the controller (1), and the polishing assembly is used for driving rotary polishing and controlling polishing depth. The controller (1) is pre-set with a trained convolutional neural network, the convolutional neural network is trained based on a wear data model of the polishing assembly, the convolutional neural network is used for inputting a polishing area and outputting a polishing assembly wear size, and the controller (1) is used for controlling the polishing depth of the polishing assembly according to the polishing assembly wear size. The polishing assembly includes a support frame (23), a gyroscope (29) and an inertial sensor (30), the gyroscope (29) and the inertial sensor (30) are built-in in the support frame (23), the controller (1) is used for acquiring detection data of the gyroscope (29) and the inertial sensor (30), generating a polishing wheel (25) movement track and calculating a grinding wheel polishing history area. The power assembly includes a power motor (31) and a plurality of tensioning track wheels (15), the power motor (31) is fixedly connected with the top wall of the bearing hinge (6), the output shaft of the power motor (31) extends obliquely downward into the hollow interior of the bearing hinge (6), the output shaft of the power motor (31) is coaxially fixedly connected with a power track wheel (19) in the interior of the bearing hinge (6), and the tensioning track wheels (15) are at the same oblique angle as the power track wheel (19).

2. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 1, characterized in that: The support frame (23) is fixedly connected with a polishing motor (28) at the top, the output shaft of the polishing motor (28) extends obliquely upward towards the inner arc side of the ring-shaped structure of the hinged strip skeleton (8) and is fixedly connected with an electric cylinder (26) at the top end, a slip ring (27) is slidably sleeved on the output shaft of the polishing motor (28), the slip ring (27) is used for power supply for the electric cylinder (26), and the rod end of the electric cylinder (26) is fixedly connected with a polishing wheel (25).

3. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 2, characterized in that: The spraying assembly comprises a support rod (33), a spray pipe (24) fixedly sleeved at the top of the support rod (33), a spray head (32) communicated with the top end of the spray pipe (24) and facing the inner side of the arc of the articulated chain frame (8), a liquid storage tank (4) communicated with the bottom end of the spray pipe (24) and penetrating through the outer wall of the working cabin (2), and a water pump (5) communicated between the spray pipe (24) and the liquid storage tank (4), wherein the liquid storage tank (4) is arranged in the working cabin (2), and a liquid adding pipe (21) is communicated with the top side wall of the liquid storage tank (4).

4. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 3, characterized in that: The support frame (23) is fixedly connected with an outer dust suction pipe (22) of the dust collector (3), the top end of the outer dust suction pipe (22) extends below the electric cylinder (26), the bottom end of the outer dust suction pipe (22) is communicated with the dust collector (3), and an inner dust suction pipe (18) is fixedly connected with the inner side wall of the working cabin (2) and communicated with the dust collector (3).

5. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 4, characterized in that: The output shaft of the power motor (31) is rotationally connected with the top wall of the bearing hinge (6), and the power track wheel (19) extends out of the inner and outer peripheries of the bearing hinge (6) and is engaged with the track (20).

6. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 5, characterized in that: The rotation shafts of the tension track wheels (15) are fixedly connected with the hinge frames (7) at the top end and the bottom end, the tension track wheels (15) are all engaged with the track (20), the track (20) is obliquely arranged in the middle part of the articulated chain frame (8), and the side of the track (20) close to the spraying assembly is higher than the side close to the polishing assembly.

7. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 5, characterized in that: The power assembly further comprises a limiting roller (34), the outer periphery of the limiting roller (34) is fixedly connected with a brush layer (16), the brush layer (16) is in rolling cooperation with the outer side surface of the track (20), the inner periphery of the limiting roller (34) is rotationally connected with a roller shaft (17), and the top end and the bottom end of the roller shaft (17) are fixedly connected with the top wall and the bottom wall of the working cabin (2).

8. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 7, characterized in that: The bidirectional locking assembly comprises a plurality of locking motors (11), the locking motors (11) are all fixedly connected with the inner walls of the hinge frames (7) at the ends of the two articulated chain frames (8), the output shafts of the locking motors (11) are all coaxially fixedly connected with lead screws (12), the lead screws (12) extend towards the other articulated chain frame (8), the inner walls of the hinge frames (7) at the ends of the articulated chain frames (8) are fixedly connected with a plurality of locking nuts (14), and the lead screws (12) and the locking nuts (14) correspond to each other between the ends of the articulated chain frames (8).

9. The climbing intelligent robot based on the variable cross-section column locked by the bidirectional butt joint according to claim 8, characterized in that: The bidirectional locking assembly further comprises electromagnets (13), the outer sides of the electromagnets (13) are all slidably sleeved with magnet tracks (9) fixedly connected with the inner walls of the hinge frames (7) at the ends of the articulated chain frames (8), the inner side walls of the electromagnets (13) are fixedly connected with a plurality of springs (10), and one end of each spring (10) away from the electromagnet (13) is fixedly connected with the inner wall of the magnet track (9).

Images