Double-end cooperative inspection mechanical arm and valve hall dust cleaning method

Abstract

The invention provides a double-end cooperative inspection mechanical arm and a valve hall dust cleaning method. The mechanical arm comprises a seven-degree-of-freedom mechanical arm body. The two walking fixing mechanisms are arranged at the two ends of the seven-freedom-degree mechanical arm body correspondingly. The walking fixing mechanism is clamped on the I-shaped structure to form a fixing point between the double-end cooperative inspection mechanical arm and the I-shaped structure, the walking fixing mechanism freely moves, a special function can be achieved, the walking fixing mechanism can also be clamped on the I-shaped structure within the movement range, and the double-end cooperative inspection mechanical arm is convenient to use. The two walking fixing mechanisms and the I-shaped structure alternately clamp to achieve continuous movement, the two walking fixing mechanisms and the I-shaped structure alternately clamp to achieve continuous movement, the double-end cooperative inspection mechanical arm can continuously move, the movement range is larger, inspection is conducted along the I-shaped structure, and uninterruptible power automatic cleaning work of the steel structure on the top of the valve hall is completed.

Description

Technical Field

[0001] The present invention relates to the technical field of robotic arms, and in particular to a double-headed collaborative inspection robotic arm and a valve hall dust cleaning method. Background Art

[0002] During the construction of UHV converter stations, ensuring dust-free installation of converter valves is an important task before electrical installation. This requires a thorough inspection and cleaning of the steel structure on the top of the valve hall. Due to the complexity and diversity of steel structures, cleaning work currently relies mainly on manual climbing and the use of safety belts, mops and vacuum cleaners, but this method is time-consuming and inefficient. The valve hall is large in scale, with a top steel structure as high as 4.2 meters, a span of 35.5 meters by 94 meters, and a total area of ​​approximately 24,236.4 square meters, which further increases the difficulty of cleaning. In addition, after the converter station is put into operation, dust is easily accumulated in the valve hall under the action of the electric field, requiring regular cleaning and maintenance, but long-term power outages will reduce economic benefits.

[0003] In view of the current peak period of UHV grid construction and the annual maintenance needs of the operating converter stations, as well as the problems of cleaning costs and labor shortage, it is particularly urgent to develop an intelligent cleaning and inspection robot. Summary of the invention

[0004] In view of this, the present invention proposes a double-headed collaborative inspection robot arm and a valve hall dust cleaning method, aiming to solve the problem that the existing valve hall is prone to dust accumulation and requires regular manual cleaning and maintenance, resulting in long-term power outages that reduce economic benefits.

[0005] On the one hand, the present invention proposes a double-headed collaborative inspection robot arm, which includes: a seven-degree-of-freedom robot arm main body; two walking and fixing mechanisms, which are respectively arranged at the two ends of the seven-degree-of-freedom robot arm main body, and are used to adjust the relative position under the driving action of the seven-degree-of-freedom robot arm main body, so that one of the walking and fixing mechanisms is clamped on the I-shaped structure to form a fixed point, and the other walking and fixing mechanism can move freely to clamp on the I-shaped structure within the movement range, so as to achieve continuous movement through alternating clamping of the two walking and fixing mechanisms and the I-shaped structure, and then perform inspection along the I-shaped structure.

[0006] Furthermore, in the above-mentioned double-headed collaborative inspection robot arm, the walking and fixing mechanism includes: a fixed support seat; an adsorption component, which is arranged at the bottom of the fixed support seat and is used to be adsorbed on the top wall of the I-shaped structure; two clamping components, which are respectively arranged on both sides of the fixed support seat and are used to clamp on the two ends of the flange plate on the I-shaped structure.

[0007] Furthermore, in the above-mentioned double-headed collaborative inspection robotic arm, the clamping assembly includes: an arc-shaped clamping plate, a connecting end of which is rotatably connected to the fixed support seat, and an execution end is used to clamp the end of the flange plate on the I-shaped structure; a telescopic push rod, one end of which is rotatably connected to the fixed support seat, and the other end is rotatably connected to the execution end of the arc-shaped clamping plate, and is used to drive the arc-shaped clamping plate to rotate by telescoping, so that the clamping assembly is clamped on the end of the flange plate on the I-shaped structure after the fixed support seat moves into position with the seven-degree-of-freedom robotic arm body.

[0008] Furthermore, in the above-mentioned double-headed collaborative inspection robot arm, the seven-degree-of-freedom robot arm body includes: a first arm; a second arm, the connecting end of the second arm is connected to the connecting end of the first arm through a single-degree-of-freedom rotation joint, and the free end of the first arm and the free end of the second arm are both provided with a three-degree-of-freedom rotation joint.

[0009] Furthermore, in the above-mentioned double-headed collaborative inspection robot arm, an actuator is provided on the walking and fixing mechanism, which is slidably arranged on the walking and clamping assembly along the height direction of the walking and clamping assembly, and is used to adjust the height position of the actuator relative to the bottom end of the walking and clamping assembly, so as to move close to the I-shaped structure to perform an execution action on the I-shaped structure, or move away from the I-shaped structure so that the walking and fixing mechanism can be clamped on the I-shaped structure.

[0010] Furthermore, in the above-mentioned double-headed collaborative inspection robot arm, the execution component is a cleaning component, which is used to clean the dust on the I-shaped structure.

[0011] Furthermore, in the above-mentioned double-headed collaborative inspection robot arm, each of the walking and fixing mechanisms is provided with a positioning component for positioning the walking and fixing mechanism so that the walking and fixing mechanism can move and clamp at the corresponding position of the I-shaped structure.

[0012] Furthermore, the positioning component of the above-mentioned dual-head collaborative inspection robot arm includes: a first image collector, used to collect images; a positioning processing module, connected to the first image collector, used to receive the image collected by the first image collector, perform three-dimensional modeling based on the collected image, and determine the position of the walking fixed mechanism.

[0013] Furthermore, in the above-mentioned double-headed collaborative inspection robot arm, a dust recognition component is provided on the walking and fixing mechanism, which is used to identify the dust on the I-shaped structure to determine the position of the dust to be cleaned on the I-shaped structure and / or whether the dust to be cleaned on the I-shaped structure has been cleaned and the cleaning effect.

[0014] On the other hand, the present invention proposes a valve hall dust cleaning method, which includes the following steps: step S1, one of the walking fixed mechanisms is clamped on the I-shaped structure of the valve hall to form a fixed point; step S2, the seven-degree-of-freedom robot arm body drives the other walking fixed mechanism to adjust the position, and the dust on the I-shaped structure is identified by the dust identification component set on the other walking fixed mechanism to determine the position of each dust within the working radius corresponding to the fixed point where one of the walking fixed mechanisms is located; step S3, a walking fixed mechanism with a cleaning component is set as the end, and the other walking fixed mechanism is used as the fixed end, and the walking fixed mechanism as the fixed end is switched to be clamped on the I-shaped structure, and the seven-degree-of-freedom robot arm body drives the other walking fixed mechanism to adjust the position, and the dust on the I-shaped structure is identified by the dust identification component set on the other walking fixed mechanism. The seven-degree-of-freedom robot arm body drives the walking and fixing mechanism as the end to adjust its position, and cleans each dust one by one through the cleaning component on the walking and fixing mechanism as the end, and identifies the dust on the I-shaped structure through the dust identification component arranged on the walking and fixing mechanism to determine whether the dust to be cleaned on the I-shaped structure is cleaned and the cleaning effect; step S4, when the dust to be cleaned on the I-shaped structure is cleaned, the seven-degree-of-freedom robot arm body drives the walking and fixing mechanism as the end to adjust its position, so that it moves and clamps to the next fixed position to form a fixed point; step S5, repeat steps S2 to S4, walk along the I-shaped structure and clean the dust in turn, until each I-shaped structure has completed the inspection and cleaning.

[0015] The double-headed cooperative inspection robot arm and the valve hall dust cleaning method provided by the present invention have one walking and fixing mechanism clamped on the I-shaped structure to form a fixed point between the double-headed cooperative inspection robot arm and the I-shaped structure, and the other walking and fixing mechanism can move freely to realize special functions such as inspection, and can also clamp on the I-shaped structure within the movement range, and then realize continuous movement through the alternating clamping of the two walking and fixing mechanisms and the I-shaped structure, that is, the double-headed cooperative inspection robot arm is clamped on different positions of the I-shaped structure by two different walking and fixing mechanisms respectively, and through alternating clamping The connection realizes continuous movement, which enables the double-headed collaborative inspection robot arm to move continuously with a larger range of motion. It can also perform inspections along the I-shaped structure, especially to complete the uninterrupted automatic cleaning of the steel structure on the top of the valve hall, thereby improving the cleaning efficiency, ensuring the cleaning quality, and reducing the safety risks of manual cleaning. It is of great significance for the construction of 28 converter stations in the future and the annual maintenance of 24 operating converter stations, and helps to improve the overall performance and economic benefits of the equipment, and solves the problem that the existing valve hall is prone to dust accumulation and requires regular manual cleaning and maintenance, resulting in long-term power outages that reduce economic benefits. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Various other advantages and benefits will become apparent to those of ordinary skill in the art by reading the detailed description of the preferred embodiments below. The accompanying drawings are only for the purpose of illustrating the preferred embodiments and are not to be considered as limiting the present invention. Moreover, the same reference symbols are used throughout the accompanying drawings to represent the same components. In the accompanying drawings: Figure 1 A schematic diagram of the structure of a double-headed collaborative inspection robot arm provided in an embodiment of the present invention; Figure 2 A schematic diagram of another state structure of the double-headed collaborative inspection robot arm provided in an embodiment of the present invention; Figure 3 A schematic diagram of a structure in which one of the walking and fixing mechanisms of a double-headed cooperative inspection robot arm provided by an embodiment of the present invention is clamped on an I-shaped structure; Figure 4 A schematic diagram of a structure in which another walking and fixing mechanism in a double-head cooperative inspection robot arm provided by an embodiment of the present invention is clamped on an I-shaped structure and the previous walking and fixing mechanism releases the I-shaped structure; Figure 5 A schematic diagram of a structure in which another walking and fixing mechanism in a double-head cooperative inspection robot arm provided by an embodiment of the present invention is clamped on an I-shaped structure and the previous walking and fixing mechanism is free to move; Figure 6 A schematic diagram of a structure in which a double-headed collaborative inspection robot arm according to an embodiment of the present invention realizes switching between two I-shaped structures; Figure 7 A schematic diagram of the structure of a walking and fixing mechanism, an execution component and a binocular camera provided in an embodiment of the present invention; Figure 8 A schematic flow chart of a valve hall dust cleaning method provided in an embodiment of the present invention. DETAILED DESCRIPTION

[0017] Exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided in order to enable a more thorough understanding of the present disclosure and to be able to fully convey the scope of the present disclosure to those skilled in the art. It should be noted that, in the absence of conflict, the embodiments of the present invention and the features described in the embodiments can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0018] See also Figures 1 to 6 , which shows the preferred structure of the double-headed collaborative inspection robot arm provided by the embodiment of the present invention. As shown in the figure, the double-headed collaborative inspection robot arm includes: a seven-degree-of-freedom robot arm body 1, two walking and fixing mechanisms 2, and an execution component 3; wherein, The two walking and fixing mechanisms 2 are respectively arranged at the two ends of the seven-degree-of-freedom robot arm body 1, and are used to adjust the relative positions under the driving action of the seven-degree-of-freedom robot arm body 1, so that one of the walking and fixing mechanisms 2 is clamped on the I-shaped structure 4 to form a fixed point, and the other walking and fixing mechanism 2 can move freely to clamp on the I-shaped structure 4 within the movement range, so as to realize continuous movement through the alternating clamping of the two walking and fixing mechanisms 2 and the I-shaped structure 4, and then perform inspection along the I-shaped structure 4.

[0019] Specifically, the seven-degree-of-freedom robotic arm body 1 can be a space station robotic arm structure, with a walking and fixing mechanism 2 at each end so that the two walking and fixing mechanisms 2 at the two ends can cooperate, and one of the walking and fixing mechanisms 2 is clamped on the I-shaped structure 4 to form a fixed point between the double-headed cooperative inspection robotic arm and the I-shaped structure 4, that is, the double-headed cooperative inspection robotic arm can have a stable fixed point, and the other walking and fixing mechanism 2 can move freely, can realize special functions such as inspection, and can also be clamped on the I-shaped structure 4 within the motion range, and then continuous movement is achieved through alternating clamping of the two walking and fixing mechanisms 2 and the I-shaped structure 4, that is, the double-headed cooperative inspection robotic arm is clamped at different positions on the I-shaped structure 4 by two different walking and fixing mechanisms 2, and continuous movement is achieved through alternating clamping connection, which can enable the double-headed cooperative inspection robotic arm to move continuously and have a larger range of motion, and can also perform inspections along the I-shaped structure 4.

[0020] In this embodiment, when the walking fixing mechanism 2 is clamped on the I-shaped structure 4, the walking fixing mechanism 2 is arranged perpendicular to the I-shaped structure 4, so that one end of the seven-degree-of-freedom robot arm body 1 is fixed on the I-shaped structure 4. Through the posture change of the seven-degree-of-freedom robot arm body 1, it can drive the other walking fixing mechanism 2 to move freely for inspection. It can also make the walking fixing mechanism 2 adjust to the next fixed point and be arranged perpendicular to the I-shaped structure 4, so that the walking fixing mechanism 2 is clamped on the fixed point of the I-shaped structure 4, thereby realizing mobile walking by alternately clamping the two walking fixing mechanisms 2 on the I-shaped structure 4. At the same time, the arrangement of the seven-degree-of-freedom robot arm body 1 can also adjust the arrangement angle of the walking fixing mechanism 2 through posture change, especially, it can make the two walking fixing mechanisms 2 as Figure 1 The parallel arrangement shown in the figure can move along the same I-shaped structure 4, and the two walking fixing mechanisms 2 can also be Figure 6 As shown, the arrangement is at an angle so as to switch between I-shaped structures 4 at different angles so as to carry out walking, movement and inspection on different I-shaped structures 4 .

[0021] Continue to see Figures 1 to 7 The walking fixing mechanism 2 is provided with an execution component 3, which is arranged along the height direction of the walking clamping assembly 2 (such as Figure 7 The vertical direction shown in the figure is slidably arranged on the walking clamping assembly 2, and is used to adjust the height position of the actuator 3 relative to the bottom end of the walking clamping assembly 2, so as to move closer to the I-shaped structure 4, that is, move downward to perform an execution action on the I-shaped structure 4, or move away from the I-shaped structure 4, that is, move upward to clamp the walking fixing mechanism 2 on the I-shaped structure 4.

[0022] Specifically, the actuator 3 is slidably arranged on one side of the walking clamping assembly 2 along the height direction of the walking clamping assembly 2, so that the bottom end of the actuator 3 is lower than the bottom end of the walking clamping assembly 2, and then the actuator 3 is used as the end effector to perform the execution action, or the bottom end of the actuator 3 is higher than the bottom end of the walking clamping assembly 2, so that the walking clamping assembly 2 is used as the end effector to perform the clamping action, thereby realizing the walking movement of the robot arm. Among them, there is one actuator 3, which is arranged on one side of one of the walking clamping assemblies 2; of course, there can also be two actuators 3, which are respectively arranged on one side of the two walking clamping assemblies 2. Among them, the actuator 3 can be a cleaning component such as a cleaning brush head, which is used to clean the dust on the I-shaped structure 4 to realize the cleaning of the dust in the valve hall; of course, the cleaning brush head can be replaced with different types of brush heads to adapt to different complex working surfaces. Of course, the actuator 3 can also be other actuators to realize the execution of other actions.

[0023] In this embodiment, the actuator 3 and the traveling clamping assembly 2 are connected via a guide mechanism 6 for guiding the vertical movement of the actuator 3 .

[0024] In this embodiment, in order to facilitate the accurate walking and movement of the robotic arm, preferably, each walking and fixing mechanism 2 is provided with a positioning component (not shown in the figure), which is used to position the walking and fixing mechanism 2, so that the walking and fixing mechanism 2 can move and clamp at the corresponding position of the I-shaped structure 4, that is, move alternately to each fixed point in turn.

[0025] In this embodiment, in order to facilitate the cleaning of the dust in the valve hall, preferably, a dust recognition component (not shown in the figure) may also be provided on the walking and fixing mechanism 2, which is used to recognize the dust on the I-shaped structure 4 to determine the position of the dust to be cleaned on the I-shaped structure 4. Of course, the dust recognition component recognizes the dust on the I-shaped structure 4, and can also determine whether the dust to be cleaned on the I-shaped structure 4 has been cleaned and the cleaning effect.

[0026] Continue to see Figure 1 to Figure 2 The seven-degree-of-freedom robot body 1 includes: a first arm 11 and a second arm 12; wherein the connecting end of the second arm 12 (such as Figure 1 The upper left end shown in FIG. 1 ) and the connecting end of the first arm 11 (as shown in FIG. Figure 1The upper right end shown in FIG. 1 is connected by a single-degree-of-freedom rotation joint 13, and the free end of the first arm 11 (as shown in FIG. Figure 1 The lower left end shown in FIG. 1 and the free end of the second arm 12 (as shown in FIG. Figure 1 The lower right end shown in the figure is provided with a three-degree-of-freedom rotation joint 14, which is used to connect the two walking fixed mechanisms 2 respectively.

[0027] Specifically, the connecting end of the first arm 11 and the connecting end of the second arm 12 are rotatably connected, and the connecting end of the first arm 11 and the connecting end of the second arm 12 are connected through a single-degree-of-freedom rotation joint 13, so that the relative positions of the two walking fixed mechanisms 2 located at the two ends, especially the arrangement direction and arrangement spacing, can be changed, thereby realizing the linear motion of the seven-degree-of-freedom mechanical arm body 1 on the I-shaped structure, and can also perform the steering of the linear motion. The free end of the first arm 11 and the free end of the second arm 12 are both provided with a three-degree-of-freedom rotation joint 14; wherein the single-degree-of-freedom rotation joint 13 can be an elbow joint, and the two three-degree-of-freedom rotation joints 14 can be used as shoulder joints and wrist joints respectively, so as to drive the two walking fixed mechanisms 2 connected by the two three-degree-of-freedom rotation joints 14 to rotate in three directions, thereby realizing the free movement of the two walking fixed mechanisms 2 within a certain range of motion.

[0028] Continue to see Figure 7 The walking fixing mechanism 2 may include: a fixed support seat 21, an adsorption component 22 and two clamping components 23; wherein the adsorption component 22 is arranged at the bottom of the fixed support seat 21, and is used to be adsorbed on the top wall of the I-shaped structure 4; the two clamping components 23 are respectively arranged on both sides of the fixed support seat 21 (such as Figure 7 The front and rear sides shown in the figure) are used to clamp on both ends of the flange plate on the I-shaped structure 4.

[0029] Specifically, the fixed support seat 21 can be a rectangular parallelepiped support seat, which is fixedly mounted on the power output end of the three-degree-of-freedom rotation joint 14. Under the driving action of the three-degree-of-freedom rotation joint 14, the fixed support seat 21 can move accordingly, especially rotate, so that the two clamping components 23 rotate to the two sides of the upper flange plate of the I-shaped structure 4, so that the two clamping components 23 can be clamped on the two plate structures of the upper flange plate respectively, or loosened to release the I-shaped structure. The adsorption component 22 is arranged at the bottom of the fixed support seat 21, and is used to be adsorbed on the top wall of the I-shaped structure 4. The adsorption component 22 may be an electromagnet adsorption structure, which is energized to adsorb and fix the surface of the I-shaped structure 4 of the I-shaped steel structure, so as to firmly fix the robot arm on the surface of the I-shaped structure 4, and cooperate with the two clamping components 23 to further fix the robot arm and ensure the lateral stability of the robot arm; the walking and fixing mechanism 2 may also release the I-shaped structure 4 by disconnecting the electromagnet adsorption structure and opening the two clamping components 23. Of course, the adsorption component 22 may also be other adsorption components, such as a vacuum adsorption component.

[0030] Continue to see Figure 7 The clamping assembly 23 includes: an arc-shaped clamping plate 231 and a telescopic push rod 232; wherein the connecting end of the arc-shaped clamping plate 231 (such as Figure 7 The right end shown in FIG. 2 is rotatably connected to the fixed support seat 21, and the execution end (as shown in FIG. Figure 7 The left end shown in FIG. 1 is used to clamp the end of the flange plate on the I-shaped structure 4; one end of the telescopic push rod 232 (as shown in FIG. 11 ) is used to clamp the end of the flange plate on the I-shaped structure 4; Figure 7 The upper right end shown in FIG. 1 is rotatably connected to the fixed support seat 21, and the other end (as shown in FIG. Figure 7 The lower left end shown in FIG. 23) and the execution end of the arc-shaped clamping plate 231 (as shown in FIG. Figure 7 The arc-shaped clamping plate 231 is rotatably connected to the left end of the I-shaped structure 4 and is used to drive the arc-shaped clamping plate 232 to rotate by telescoping so that the arc-shaped clamping plate 231 is clamped on the end of the flange plate on the I-shaped structure 4.

[0031] Specifically, the connecting end of the arc-shaped clamping plate 231 is rotatably connected to the bottom end of the side wall of the fixed support seat 21 through a pin shaft, and the execution end of the arc-shaped clamping plate 231 is provided with a clamping portion, which has a groove structure and is used to be clamped on the end side of the flange plate on the I-shaped structure 4 to achieve lateral clamping of the I-shaped structure 4. The fixed end of the telescopic push rod 232 is connected to the top of the fixed support seat 21 through a pin shaft in a rotatable manner, that is, the fixed end of the telescopic push rod 232 is located above the connecting end of the arc clamping plate 231, and the telescopic end of the telescopic push rod 232 is connected to the execution end or the middle position of the arc clamping plate 231 through a pin shaft in a rotatable manner, that is, the arc clamping plate 231, the telescopic push rod 232 and the fixed support seat 21 form a triangular structure. Through the telescopic push rod 232, the arc clamping plate 231 is driven to rotate accordingly, so that the arc clamping plate 231 rotates downward, so that the arc clamping plate 231 is clamped on the I-shaped structure 4, and can also be rotated upward to open, so that the arc clamping plate 231 releases the I-shaped structure 4. Among them, the telescopic push rod 232 can be an electric push rod, or other telescopic driving mechanism, which is not limited in this embodiment.

[0032] Continue to see Figure 7 The guide mechanism 6 may include: a guide rail 61, a slider 62 and a connecting plate 63; wherein the guide rail 61 is fixedly installed along the vertical direction of the walking clamp assembly 2, and the slider 62 is slidably connected to the guide rail 61 along the length direction of the guide rail 61; and the two ends of the connecting plate 63 are respectively connected to the slider 62 and the actuator 3, so as to drive the actuator 3 to adjust the height position along with the slider 62. Specifically, the connecting plate 63 may be an L-shaped structure.

[0033] In this embodiment, the positioning component may include: a first image collector and a positioning processing module; wherein the first image collector is used to collect images; the positioning processing module is connected to the first image collector, and is used to receive the images collected by the first image collector, perform three-dimensional modeling according to the collected images, and determine the position of the walking fixed mechanism. Specifically, the first image collector can be an IE binocular camera, and the positioning component can adopt binocular vision and IMU fusion SLAM technology. ORB-SLAM3 is currently an excellent algorithm for integrating binocular vision and IMU. Its front end is an ORB descriptor and key frame extraction algorithm optimized for real-time performance, and the back end is the maintenance of local maps, closed-loop correction and update of global maps. In the TUM data set test, its highest accuracy can reach 1cm. Based on the framework, the algorithm is developed to realize the fusion of binocular vision and IMU data, accurately calculate the displacement distance and give a reliable real-time posture, so that the manipulator can perform real-time positioning without GPS. Among them, ORB-SLAM3 optimizes the following aspects based on the previous generation: First, the visual information and IMU data are integrated to improve the stability and accuracy of posture estimation. Second, the key frame timing continuity requirement is added to the closed-loop detection to ensure the accuracy of the closed loop. Third, active and inactive maps are set to support the establishment and fusion of multiple maps. In the robot inspection modeling, the SLAM algorithm needs to provide reliable pose estimation to know the displacement of the body and its position in the map, and process the sensor data as quickly as possible through the tracking thread, that is, the processing frequency of the message frame should be as high as possible. When running the SLAM algorithm on AIxBoard, when the binocular camera shoots at a frequency of about 30 Hz, the average processing speed of the tracking thread can reach 29.69Hz, indicating that the program can stably process all incoming binocular images. The SLAM algorithm that combines binocular vision and IMU can be used under the Intel development kit, so that the robot arm has the ability to output reliable poses and accurately move the specified distance, providing reliable data for the subsequent establishment of high-resolution and high-precision models.

[0034] In this embodiment, the debris recognition component may include: a second image collector and a debris recognition module; wherein the debris recognition module is used to collect images; the debris recognition module is connected to the second image collector, and is used to receive the image collected by the second image collector, and perform debris recognition based on the collected image to determine the position of the debris to be cleaned on the I-shaped structure, and / or whether the debris to be cleaned on the I-shaped structure has been cleaned and the cleaning effect.

[0035] Specifically, the second image collector can be a binocular camera, and the second image collector and the first image collector can share the same binocular camera, such as Figure 7As shown, the binocular camera 5 and the execution component 3 are respectively placed on the left and right sides of the walking and fixing mechanism 2 to avoid interference between the two; the binocular camera 5 identifies the working surface to be cleaned and the surface of the I-beam that needs to be clamped and adsorbed, and completes the modeling of the working environment to help the robot arm to operate autonomously in the working environment and complete actions such as movement and cleaning. The debris recognition component uses the visual detection system to identify and detect dust, and performs target detection based on the Yolov8 network. YOLOv8 is the latest series of YOLO based on the object detection model launched by Ultralytics in 2023. It can provide the most advanced object detection performance to date. With the help of the original YOLO model version support technology, the YOLOv8 model runs faster and more accurately, and all possible particles that appear on the surface of the steel structure are trained in advance, and are directly deployed in the onboard computer after the model is trained. The working surfaces are screened one by one during the inspection. After testing, the pre-trained particles were detected, and the recognition effect was very significant.

[0036] In this embodiment, the power supply and communication of the dual-head collaborative inspection robot arm are provided by direct cable connection.

[0037] In this embodiment, after the cleaning within a certain working radius is completed in the valve hall, Figure 3 As shown in the figure, the end effector of the dual-head collaborative inspection robot arm will look for the next fixed point. After finding a reasonable fixed point, the binocular camera at the end will locate the specific position, and then the end will move to the predetermined position, as shown in the figure. Figure 4 As shown, the electromagnet adsorption structure at the end is adsorbed and fixed to the surface of the I-beam, and then the clamping components 23 on both sides start to move to further fix the robot arm. Figure 5 As shown, after the end is fixed, the electromagnet adsorption structure of the initial fixed end is powered off, the clamping assembly 23 is opened, and the initial fixed end becomes the end effector in this state. The action flow is as follows Figure 7 shown.

[0038] In this embodiment, the double-headed collaborative inspection robot arm can clean the upper surface of the upper flange plate of the I-shaped structure, and can also clean the lower surface of the lower flange plate and the left and right sides of the web. The double-headed collaborative inspection robot arm can not only clean the dust in the valve hall, but also perform other execution actions, and can also walk and move the I-shaped structure on other structures for inspection.

[0039] In summary, the double-headed cooperative inspection robot arm provided in this embodiment is clamped on the I-shaped structure 4 by one of the walking fixing mechanisms 2 to form a fixed point between the double-headed cooperative inspection robot arm and the I-shaped structure 4, and the other walking fixing mechanism 2 can move freely, can realize special functions such as inspection, and can also be clamped on the I-shaped structure 4 within the range of motion, and then continuous movement is achieved by alternately clamping the two walking fixing mechanisms 2 and the I-shaped structure 4, that is, the double-headed cooperative inspection robot arm is clamped on different positions on the I-shaped structure 4 by two different walking fixing mechanisms 2, and alternately clamping The clamp connection realizes continuous movement, which enables the double-headed collaborative inspection robot arm to move continuously and with a larger range of motion. It can also perform inspections along the I-shaped structure 4, and especially complete the uninterrupted automatic cleaning of the steel structure on the top of the valve hall, thereby improving the cleaning efficiency, ensuring the cleaning quality, and reducing the safety risks of manual cleaning. It is of great significance for the construction of 28 converter stations in the future and the annual maintenance of 24 converter stations in operation, and helps to improve the overall performance and economic benefits of the equipment, and solves the problem that the existing valve hall is prone to dust accumulation and requires regular manual cleaning and maintenance, resulting in long-term power outages that reduce economic benefits.

[0040] Method Example: See also Figure 8 , which is a flow chart of a valve hall dust cleaning method provided by an embodiment of the present invention. As shown in the figure, the valve hall dust cleaning method uses the above-mentioned double-headed collaborative inspection robot arm to clean the dust on the valve hall, and the valve hall dust cleaning method may include the following steps: In step S1, one of the travel fixing mechanisms is clamped on the I-shaped structure of the valve hall to form a fixing point.

[0041] Specifically, Figure 3 As shown, the walking and fixing mechanism 2 on the left side is clamped on the I-shaped structure 4 of the valve hall to form a fixed point, and the adsorption component 22 on the left side is adsorbed and fixed to the surface of the I-shaped structure 4, and then the two clamping components 23 on both sides start to move, and the two telescopic push rods 231 are extended to make the two arc-shaped clamping plates 232 rotate downward, so that the two arc-shaped clamping plates 232 clamp the I-shaped structure 4, thereby further fixing the robot arm.

[0042] Step S2, driving another walking and fixing mechanism to adjust the position through the seven-degree-of-freedom robot arm body, and identifying the dust on the I-shaped structure through the dust identification component set on the other walking and fixing mechanism to determine the position of each dust within the working radius corresponding to the fixed point where one of the walking and fixing mechanisms is located.

[0043] Specifically, the other walking and fixing mechanism 2, i.e. the walking and fixing mechanism 2 on the right side, serves as the end effector, and the end effector of the double-headed collaborative inspection robot arm identifies dust on the I-shaped structure to determine the position of each dust on the I-shaped structure 4 within the working radius of the fixed position of the initial fixed end.

[0044] Step S3, a walking fixed mechanism with a cleaning component is set as the end, and another walking fixed mechanism is used as the fixed end. The walking fixed mechanism as the fixed end is switched to clamp on the I-shaped structure, and the walking fixed mechanism as the end is driven by the seven-degree-of-freedom robot arm body to adjust the position, and each dust is cleaned one by one by the cleaning component on the walking fixed mechanism as the end, and the dust on the I-shaped structure is identified by the dust identification component set on the walking fixed mechanism to determine whether the dust to be cleaned on the I-shaped structure is cleaned and the cleaning effect.

[0045] Specifically, if a cleaning component is provided on the end effector, the cleaning component cleans each dust on the I-shaped structure 4 within the working radius of the fixed position of the initial fixed end one by one, and after the cleaning is completed, the dust on the I-shaped structure is identified by the dust identification component provided on the end effector to determine whether the dust to be cleaned on the I-shaped structure has been cleaned and the cleaning effect, and whether there are residual particles. If there are residual particles, cleaning is performed again until the cleaning is completed and there are no residual particles. If there is no cleaning component on the end effector, a cleaning component is provided on another walking and fixing mechanism, that is, the original initial fixed end, and the clamping work of the two walking and fixing mechanisms is switched, that is, the existing end effector is clamped on the I-shaped structure 4 around the original fixed point, and the walking and fixing mechanism 2 of the original initial fixed end is switched as the end effector to clean each dust one by one and detect the cleaning effect.

[0046] Step S4, when the dust to be cleaned on the I-shaped structure is cleaned, the walking and fixing mechanism at the end is driven by the main body of the seven-degree-of-freedom robot arm to adjust the position, so that it moves and clamps to the next fixed position to form a fixed point.

[0047] Specifically, when the dust to be cleaned on the I-shaped structure is cleaned, Figure 3 As shown, the end effector of the last action in step S3 searches for the next fixed point. After finding a reasonable fixed point, the binocular camera 5 at the end is used to locate the specific position, and then the end moves to the predetermined position, as shown in FIG. Figure 4 As shown, the adsorption component 22 at the end is adsorbed and fixed on the surface of the I-shaped structure 4, and then the clamping components 23 on both sides start to move, and the two arc-shaped clamping plates 232 are rotated downward by extending the two telescopic push rods 231, so that the two arc-shaped clamping plates 232 clamp the I-shaped structure 4, further fixing the robot arm. Figure 5As shown, after the end is fixed, the adsorption component 22 of the initial fixed end, that is, the adsorption component 22 on the left walking and fixing mechanism 2 stops adsorption, and the two clamping components 23 are opened. The initial fixed end becomes the end effector in this state, and its action process is as follows Figure 7 shown.

[0048] Step S5, repeating steps S2 to S4, walking along the I-shaped structure and cleaning the dust in sequence until all the I-shaped structures have completed the inspection and cleaning.

[0049] Specifically, repeat steps S2 to S4, walk along the I-shaped structure and clean the dust in turn, and clean each I-shaped structure in turn until all I-shaped structures have completed inspection and cleaning.

[0050] In summary, the valve hall dust cleaning method provided by the present embodiment is that one of the walking fixing mechanisms 2 is clamped on the I-shaped structure 4 to form a fixed point between the double-headed cooperative inspection robot arm and the I-shaped structure 4, and the other walking fixing mechanism 2 can move freely, can realize special functions such as inspection, and can also be clamped on the I-shaped structure 4 within the range of motion, and then continuous movement is achieved by alternately clamping the two walking fixing mechanisms 2 and the I-shaped structure 4, that is, the double-headed cooperative inspection robot arm is clamped at different positions on the I-shaped structure 4 by two different walking fixing mechanisms 2, and alternately clamping The clamp connection realizes continuous movement, which enables the double-headed collaborative inspection robot arm to move continuously and with a larger range of motion. It can also perform inspections along the I-shaped structure 4, and especially complete the uninterrupted automatic cleaning of the steel structure on the top of the valve hall, thereby improving the cleaning efficiency, ensuring the cleaning quality, and reducing the safety risks of manual cleaning. It is of great significance for the construction of 28 converter stations in the future and the annual maintenance of 24 converter stations in operation, and helps to improve the overall performance and economic benefits of the equipment, and solves the problem that the existing valve hall is prone to dust accumulation and requires regular manual cleaning and maintenance, resulting in long-term power outages that reduce economic benefits.

[0051] It should be noted that, in the description of the present invention, terms such as "up", "down", "left", "right", "inside" and "outside" indicating directions or positional relationships are based on the directions or positional relationships shown in the drawings. This is merely for the convenience of description and does not indicate or imply that the device or element must have a specific orientation, be constructed and operated in a specific orientation. Therefore, it cannot be understood as a limitation on the present invention.

[0052] In addition, it should be noted that in the description of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection, or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For those skilled in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0053] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A dual-head collaborative inspection robot arm, characterized in that: include: The main body of the seven-degree-of-freedom robotic arm; Two walking and fixing mechanisms are respectively arranged at the two ends of the seven-degree-of-freedom robotic arm body, and are used for adjusting the relative position under the driving action of the seven-degree-of-freedom robotic arm body, so that one of the walking and fixing mechanisms is clamped on the I-shaped structure to form a fixed point, and the other walking and fixing mechanism can move freely to clamp on the I-shaped structure within the movement range, so as to realize continuous movement through the alternating clamping of the two walking and fixing mechanisms and the I-shaped structure, and then perform inspection along the I-shaped structure.

2. The dual-head collaborative inspection robot arm according to claim 1, characterized in that: The walking fixing mechanism comprises: Fixed support seat; An adsorption component, arranged at the bottom of the fixed support seat, and used for adsorbing on the top wall of the I-shaped structure; Two clamping assemblies are respectively arranged on both sides of the fixed support seat and are used for clamping the two ends of the upper flange plate of the I-shaped structure.

3. The dual-head collaborative inspection robot arm according to claim 2, characterized in that: The clamping assembly comprises: An arc-shaped clamping plate, the connection end of which is rotatably connected to the fixed support seat, and the execution end of which is used to clamp the end of the flange plate on the I-shaped structure; A telescopic push rod, one end of which is rotatably connected to the fixed support seat, and the other end of which is rotatably connected to the execution end of the arc-shaped clamping plate, is used to drive the arc-shaped clamping plate to rotate by telescoping, so that the clamping assembly is clamped on the end of the upper flange plate of the I-shaped structure after the fixed support seat moves into position with the seven-degree-of-freedom robotic arm body.

4. The double-headed collaborative inspection robot arm according to any one of claims 1 to 3, characterized in that: The seven-degree-of-freedom robotic arm body comprises: primary boom; The second arm, the connecting end of the second arm is connected to the connecting end of the first arm through a single-degree-of-freedom rotation joint, and the free end of the first arm and the free end of the second arm are both provided with a three-degree-of-freedom rotation joint.

5. The double-headed collaborative inspection robot arm according to any one of claims 1 to 3, characterized in that: The walking and fixing mechanism is provided with an actuator, which is slidably arranged on the walking and clamping assembly along the height direction of the walking and clamping assembly, and is used to adjust the height position of the actuator relative to the bottom end of the walking and clamping assembly, so as to move close to the I-shaped structure to perform an actuator action on the I-shaped structure, or move away from the I-shaped structure so that the walking and fixing mechanism is clamped on the I-shaped structure.

6. The dual-head collaborative inspection robot arm according to claim 5, characterized in that: The execution component is a cleaning component, which is used to clean the dust on the I-shaped structure.

7. The double-headed collaborative inspection robot arm according to any one of claims 1 to 3, characterized in that: Each of the walking and fixing mechanisms is provided with a positioning component for positioning the walking and fixing mechanism so that the walking and fixing mechanism can move and clamp at a corresponding position of the I-shaped structure.

8. The dual-head collaborative inspection robot arm according to claim 7, characterized in that: The positioning component comprises: A first image collector, used for collecting images; The positioning processing module is connected to the first image collector and is used to receive the image collected by the first image collector, perform three-dimensional modeling according to the collected image, and determine the position of the walking fixed mechanism.

9. The double-headed collaborative inspection robot arm according to any one of claims 1 to 3, characterized in that: The walking and fixing mechanism is provided with a dust identification component for identifying the dust on the I-shaped structure to determine the position of the dust to be cleaned on the I-shaped structure and / or whether the dust to be cleaned on the I-shaped structure has been cleaned and the cleaning effect.

10. A valve hall dust cleaning method, characterized in that: Using the double-headed collaborative inspection robot arm as described in any one of claims 1 to 9 to perform inspection and cleaning comprises the following steps: Step S1, one of the walking fixing mechanisms is clamped on the I-shaped structure of the valve hall to form a fixing point; Step S2, driving another walking and fixing mechanism to adjust the position by the seven-degree-of-freedom robot arm body, and identifying the dust on the I-shaped structure by a dust identification component provided on the other walking and fixing mechanism to determine the position of each dust within the working radius corresponding to the fixed point where one of the walking and fixing mechanisms is located; Step S3, a walking fixed mechanism with a cleaning component is provided as the end, another walking fixed mechanism is provided as the fixed end, the walking fixed mechanism as the fixed end is switched to clamp the I-shaped structure, the walking fixed mechanism as the end is driven by the main body of the seven-degree-of-freedom robot arm to adjust the position, and each dust is cleaned one by one by the cleaning component on the walking fixed mechanism as the end, and the dust on the I-shaped structure is identified by the dust identification component provided on the walking fixed mechanism to determine whether the dust to be cleaned on the I-shaped structure is cleaned and the cleaning effect; Step S4, when the dust to be cleaned on the I-shaped structure is cleaned, the walking and fixing mechanism as the end is driven by the main body of the seven-degree-of-freedom robot arm to adjust the position, so that it moves and clamps to the next fixed position to form a fixed point; Step S5, repeating steps S2 to S4, walking along the I-shaped structure and cleaning the dust in sequence until all the I-shaped structures have completed the inspection and cleaning.

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