Crawling robot for detecting surface damage of large steel structure

Abstract

The invention discloses a crawling robot for detecting surface damage of a large steel structure, and relates to the technical field of intelligent robot fault detection. The method not only improves the surface damage identification efficiency of the large steel structure, but also can work on non-planes such as angle steel, and can effectively avoid obstacles on the narrow surface of the large steel structure. The robot comprises a front vehicle, a rear vehicle and a control device. The front vehicle and the rear vehicle are connected through a mechanical arm connecting structure; a camera device and a flaw detection device are arranged on the front vehicle; the front vehicle and the rear vehicle are each provided with a moving mechanism and a conveying mechanism. The camera device comprises an industrial camera and a laser transmitter; the flaw detection device comprises a laser transceiving device, an electric signal sensor module, a picture recognition module, a photoelectric sensor and an information storage module; the industrial camera and the laser transmitter are both located above the laser transmitting and receiving device; the photoelectric sensor is connected with the laser transceiving device and the electric signal sensor module; the industrial camera is connected with the electric signal sensor module and the information storage module.

Description

Technical Field

[0001] The present application relates to the technical field of intelligent robot fault detection, and in particular to a crawling robot for detecting surface damage of large steel structures. Background Art

[0002] During the long-term service of large steel structures, their surfaces will inevitably suffer structural damage and deformation and cracking. Common surface damage of steel structures includes surface rust and surface cracks, and in severe cases, collapse. Therefore, studying the surface damage of large steel structures is of great significance in practical applications.

[0003] Currently, in the research on crawling robots used to detect surface damage of large steel structures, most of them use a combination of crawling robots and manual labor to help with damage identification, which is inefficient. Most robots currently have strict requirements on the surface shape of steel structures in the identification of surface damage of steel structures, and can only operate when the surface of the steel structure is flat. If they encounter non-flat surfaces such as angle steel, they cannot operate, so this type of crawling robot is difficult to promote. During the operation process, if they encounter obstacles on the surface of large steel structures, most crawling robots will choose to bypass the obstacles to avoid them, but for narrow large steel structures, this method cannot effectively avoid obstacles. Summary of the invention

[0004] An embodiment of the present application provides a crawling robot for detecting surface damage of large steel structures, which not only improves the efficiency of identifying surface damage of large steel structures, but also can work on non-planar surfaces such as angle steels, and can also effectively avoid obstacles on narrow surfaces of large steel structures.

[0005] To achieve the above-mentioned objectives, an embodiment of the present application provides a crawling robot for detecting surface damage of large steel structures, comprising a front vehicle, a rear vehicle and a control device; the front vehicle and the rear vehicle are connected by a mechanical arm connecting structure; a camera device and a flaw detection device are provided on the front vehicle; a moving mechanism and a transmission mechanism are provided on both the front vehicle and the rear vehicle; the camera device comprises an industrial camera and a laser transmitter; the flaw detection device comprises a laser transceiver, an electrical signal sensor module, an image recognition module, a photoelectric sensor and an information storage module; the industrial camera and the laser transmitter are both located above the laser transceiver; the photoelectric sensor is connected to the laser transceiver and the electrical signal sensor module; the industrial camera is connected to the electrical signal sensor module and the information storage module, and the information storage module is connected to the control device.

[0006] Furthermore, the camera device also includes an infrared probe and an LED light source; the infrared probe can provide infrared imaging for the shooting of the industrial camera; and the LED light source can provide a visual environment for shooting.

[0007] Furthermore, the moving mechanism includes a track wheel system respectively arranged on both sides of the transmission mechanism; the track wheel system includes two groups of track wheel assemblies and a track chain arranged outside the track wheel assemblies; two track wheel retainers are respectively connected to the two ends of the transmission mechanism; the track wheel assemblies are connected in the track wheel retainers; and the track wheel assemblies are connected to the track wheel motor.

[0008] Furthermore, the track wheel assembly includes two track wheels and a track wheel shaft arranged between the two track wheels; the moving mechanism also includes supporting wheels and sprocket wheels; the supporting wheels are connected to the track wheel shaft through the supporting wheel shaft; the sprocket wheels are connected to the track wheel shaft through the sprocket wheel shaft.

[0009] Furthermore, the transmission mechanism includes a bottom suspension beam, a motor support plate, a bottom motor, two rotating cage support structures, two sets of bevel gear groups, two gear shafts and two track rotating cages; the bottom suspension beam is arranged at the bottom of the front vehicle or the rear vehicle; the bottom motor is connected to the lower surface of the bottom suspension beam through the motor support plate; the inner ends of the two rotating cage support structures are respectively connected to the two sides of the bottom suspension beam, and the outer ends are hinged to the corresponding gear shafts; the gear shafts are connected to the corresponding track wheel cages through the track rotating cage; the driving wheels of the two sets of bevel gear groups are connected to the bottom motor, and the driven wheels are connected to the corresponding gear shafts.

[0010] Furthermore, the track rotating retainer is hinged to the gear shaft through a rotating block, a rotating block base and a locking nut.

[0011] Furthermore, the robotic arm connection structure includes two robotic arms and a robotic forearm connected between the two robotic arms; one end of the robotic arm is hinged to the front vehicle or the rear vehicle through a robotic arm shaft, and the other end is hinged to the robotic forearm through a robotic arm shaft; the end of the robotic arm shaft is connected to the robotic arm motor.

[0012] Furthermore, the control device includes a control module single-chip computer, a data processing module and a posture balance detection device; the input end of the data processing module is connected to the posture balance detection device and the information storage module, and the output end is connected to the input end of the control module single-chip computer, and the output end of the control module single-chip computer is connected to the track wheel motor, the bottom motor and the robotic arm motor.

[0013] Furthermore, the data processing module can calculate the contraction distance and angle of the robot arm connection structure according to the output signal of the information storage module.

[0014] Furthermore, it also includes a power supply device; the power supply device includes a front vehicle power supply and a rear vehicle power supply; a magnetic suction device is provided on the track chain; the front vehicle power supply and the rear vehicle power supply respectively supply power to the corresponding magnetic suction device; the front vehicle power supply and the rear vehicle power supply are both connected to the control module microcontroller, and the control module microcontroller can control the power supply or power off of the front vehicle power supply or the rear vehicle power supply.

[0015] Compared with the prior art, this application has the following beneficial effects:

[0016] 1. The crawling robot for detecting surface damage of large steel structures in the embodiment of the present application utilizes a camera device and a flaw detection device to identify surface damage of large steel structures and collects and transmits abnormal signals, which is different from previous manual inspections and is more efficient.

[0017] 2. The crawling robot for detecting surface damage of large steel structures in the embodiment of the present application adjusts the angle between two track wheels by arranging a bottom motor, a bevel gear set and a gear shaft at the bottom of the vehicle body to transmit power to a rotating cage, and fixes a posture balance detection device on the rotating cage to control the bottom motor according to the detection value, thereby increasing the contact area between the track wheel surface and the irregular surface of large steel structures such as angle steels, so that the robot can adapt to the irregular surface of large steel structures such as angle steels to perform operations.

[0018] 3. The crawling robot for detecting surface damage of large steel structures in the embodiment of the present application has innovated an obstacle avoidance structure. When encountering an obstacle, the control device participates in the regulation, and the camera device, flaw detection device, robotic arm motor and other mechanisms work together to complete actions such as obstacle climbing. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0020] Figure 1 A schematic diagram of the three-dimensional structure of a crawling robot for detecting surface damage of a large steel structure according to an embodiment of the present application at one angle;

[0021] Figure 2 This is a schematic diagram of the three-dimensional structure of the crawling robot for detecting surface damage of a large steel structure according to an embodiment of the present application from another angle;

[0022] Figure 3 This is a schematic diagram of the three-dimensional structure of a camera device in a crawling robot for detecting surface damage of a large steel structure in an embodiment of the present application, after removing the LED light source;

[0023] Figure 4 This is a schematic diagram of the three-dimensional structure of a laser transceiver device in a crawling robot for detecting surface damage of a large steel structure according to an embodiment of the present application;

[0024] Figure 5This is a schematic diagram of the exploded structure of a track wheel assembly in a crawler robot for detecting surface damage of a large steel structure according to an embodiment of the present application;

[0025] Figure 6 This is a schematic diagram of the connection structure between the transmission mechanism and the moving mechanism in the crawling robot for detecting surface damage of a large steel structure according to an embodiment of the present application;

[0026] Figure 7 A schematic diagram of a crawling robot for detecting surface damage of a large steel structure according to an embodiment of the present application operating on the front side of an angle steel;

[0027] Figure 8 A schematic diagram of a crawling robot for detecting surface damage of a large steel structure according to an embodiment of the present application operating on the reverse side of an angle steel;

[0028] Fig. 9 This is a schematic diagram of the process of a crawling robot for detecting surface damage of a large steel structure in an embodiment of the present application using a robotic arm connection structure to avoid obstacles and climb. DETAILED DESCRIPTION

[0029] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0030] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0031] In the description of the present application, it should be noted that, 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. For ordinary technicians in this field, they can understand the specific meanings of the above terms in this application according to specific circumstances.

[0032] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" can explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0033] Reference Figures 1 to 6 The embodiment of the present application provides a crawling robot for detecting surface damage of a large steel structure, including a camera device 1, a flaw detection device 2, a moving mechanism 3, a power supply device 4, a mechanical arm connection structure 5, a control device 6, a transmission mechanism 7, a front vehicle 8 and a rear vehicle 9. The control device 6 includes a control module single chip computer 601, a data processing module 602 and a posture balance detection device 603. The power supply device 4 includes a front vehicle power supply 401 and a rear vehicle power supply 402.

[0034] Reference Figure 2 and Figure 6 The front vehicle 8 and the rear vehicle 9 are connected by a mechanical arm connection structure 5. The front vehicle 8 includes a front vehicle overall frame, which includes a vehicle frame 801, a side support wall 802, a front support wall 803 and a rear support wall 804. The vehicle frame 801, the side support wall 802, the front support wall 803 and the rear support wall 804 together form a mounting cavity with an opening facing upward.

[0035] Reference Figures 1 to 4 , the camera device 1 includes an industrial camera 101, an infrared probe 102, a laser transmitter 103 and an LED light source (not shown in the figure). The flaw detection device 2 includes a laser transceiver 201, an electrical signal sensor module 202, an image recognition module 203, a photoelectric sensor (not shown in the figure) and an information storage module 205. The camera device 1 and the laser transceiver 201 are both installed on the front support wall 803, and the camera device 1 is installed closely above the laser transceiver 201. The electrical signal sensor module 202, the image recognition module 203, the photoelectric sensor and the information storage module 205 are all arranged in the installation cavity of the front vehicle 8. The photoelectric sensor is connected to the laser transceiver 201 and the electrical signal sensor module 202. The industrial camera 101 is connected to the electrical signal sensor module 202 and the information storage module 205, and the information storage module 205 is connected to the control module single chip computer 601.

[0036] The laser transmitter 103 emits a laser of a certain frequency to the surface of the large steel structure to be detected. The laser reflects light on the surface of the large steel structure. The laser transceiver 201 directly captures the reflected light wave. The photoelectric sensor can convert the light signal captured by the laser transceiver 201 into an electrical signal. The weak electrical signal is processed by the amplification circuit and then transmitted to the electrical signal sensor module 202. If the surface of the steel structure has surface damage such as surface rust and surface cracks, the reflected light wave signal and reflection time are different from those of the normal smooth steel structure surface. When the current received by the electrical signal sensor module 202 changes, the industrial camera 101 can be controlled to take photos and videos of the steel structure surface. If it is at night or in complex weather such as fog, the infrared probe 102 can provide infrared imaging for the shooting of the industrial camera 101, and the LED light source can provide a visual environment for shooting.

[0037] The collected images, videos and abnormal electrical signals of the surface damage of the steel structure will be judged as three major types of defects, namely surface rust, surface cracks or other surface defects, by the image recognition module 203. After the judgment is completed, all information will be stored in the information storage module 205. The information storage module 205 has a radio transmitting and receiving device inside, which is used to transmit data to the control module single chip computer 601 in real time.

[0038] Reference Figure 5 and Figure 6 , a moving mechanism 3 and a transmission mechanism 7 are provided at the bottom of the front vehicle 8. The moving mechanism 3 includes a track wheel system respectively arranged on both sides of the transmission mechanism 7. The track wheel system includes two sets of track wheels and a track chain 301 arranged outside the track wheel system. The track chain 301 is inlaid with a magnetic device 302, which will firmly adsorb the track chain 301 on the surface of the steel structure when powered on, providing protection for high-altitude operations.

[0039] The track wheel assembly is connected in the track wheel holder 303. The track wheel holder 303 ensures the smooth operation of the track wheel. The two track wheel holders 303 are respectively connected to the two ends of the transmission mechanism 7 through the rotating holder screw 313 and the rotating holder nut 314. The track wheel assembly includes two track wheels 304 and a track wheel shaft 305 arranged between the two track wheels 304. A bearing 306 is arranged between the track wheel holder 303 and the track wheel shaft 305. An elastic retaining ring 307 is arranged on the outer side of the bearing 306. The elastic retaining ring 307 provides axial positioning for the track wheel 304 and the bearing 306. The track wheel shaft 305 is connected to the track wheel motor 315. The moving mechanism 3 also includes a supporting roller 308 and a drag chain wheel 310. The supporting roller 308 is connected to the track wheel holder 303 through the supporting roller shaft 309. The drag chain wheel 310 is connected to the track wheel holder 303 through the drag chain wheel shaft 311. The supporting wheel 308 and the drag chain wheel 310 ensure the stable operation of the track and provide support for it.

[0040] The transmission mechanism 7 includes a bottom suspension beam 701, a motor support plate 702, a bottom motor 703, two rotating cage support structures 704, two sets of bevel gear sets 705, two gear shafts 706 and two crawler rotating cages 707. The bottom of the front vehicle 8 forms a concave portion, that is, the front and rear are low and the middle is high. The bottom suspension beam 701 is arranged at the bottom of the front vehicle 8 along the front and rear directions. The bottom motor 703 is connected to the lower surface of the bottom suspension beam 701 through the motor support plate 702. The inner ends of the two rotating cage support structures 704 are respectively connected to the two sides of the bottom suspension beam 701, and the outer ends are hinged to the corresponding gear shafts 706. The gear shaft 706 is connected to the corresponding crawler wheel cage 303 through the crawler rotating cage 707. The driving wheels of the two sets of bevel gear sets 705 are connected to the bottom motor 703, and the driven wheels are connected to the corresponding gear shafts 706. The crawler wheel cage 303 is provided with a posture balance detection device 603. When passing through the surface of a large steel structure with different slopes, the control device 6 participates in the control through the signals of the camera device 1 and the posture balance detection device 603, and can adaptively adjust the position of the crawler chain 301 by transmitting power through the bottom motor 703, the bevel gear set 705, and the gear shaft 706.

[0041] Reference Figure 1 and Figure 2 The structure of the rear car 9 is the same as that of the front car 8, and a moving mechanism 3 and a transmission mechanism 7 are also provided at the bottom thereof. The rear car 9 is connected to the front car 8 through a mechanical arm connection structure 5, and is symmetrically arranged. The power supply device 4 includes a front car power supply 401 and a rear car power supply 402. The front car power supply 401 and the rear car power supply 402 are respectively arranged in corresponding installation cavities, and supply power to the corresponding magnetic suction device 301 and other components. An item storage box 403 is also provided in the installation cavity for placing the tools necessary for the operation.

[0042] The mechanical arm connection structure 5 includes two mechanical arms 501 and a mechanical arm 502 connected between the two mechanical arms 501. One end of the mechanical arm 501 is hinged to the front vehicle 8 or the rear vehicle 9 through the mechanical arm shaft 504, and the other end is hinged to the mechanical arm 502 through the mechanical arm shaft 504. The outer end of the mechanical arm shaft 504 is connected to the mechanical arm motor 503. The mechanical arm motor 503 drives the lifting and lowering of the mechanical arm 501 and the mechanical arm 502. As a result, the mechanical arm connection structure 5 can realize the obstacle crossing and climbing work of the entire robot.

[0043] The input end of the data processing module 602 is connected to both the posture balance detection device 603 and the information storage module 205, and the output end is connected to the input end of the control module single chip 601. The output end of the control module single chip 601 is connected to the track wheel motor 315, the bottom motor 703, the mechanical arm motor 503, the front vehicle power supply 401 and the rear vehicle power supply 402. The data processing module 602 can calculate the contraction distance and angle of the mechanical arm connection structure 5 according to the output signal of the information storage module 205.

[0044] The control module single chip microcomputer 601 mainly controls the track wheel motor 315, the bottom motor 703 and the mechanical arm motor 503, and then controls the motion state of the whole vehicle, the posture of the rotating cage and the motion state of the mechanical arm connection structure 5. The data processing module 602 is mainly used to receive the signals transmitted by the camera device 1 and the flaw detection device 2, and process the signals, and then send instructions to the control module single chip microcomputer 601 to adjust the movement of the robot. The posture balance detection device 603 can send instructions to the control module single chip microcomputer 601 and act on the bottom motor 703 to maximize the contact between the track and the steel structure surface, ensuring the smooth operation of the robot.

[0045] Reference Figure 7 and Figure 8 , Figure 7 and Figure 8 The schematic diagram of the crawling robot according to the embodiment of the present application working on the front and back sides of the angle steel 10 is shown. Since the two faces of the angle steel 10 have an angle, the crawling robot cannot maintain a balanced state. When the posture balance detection device 603 installed on the track rotating holder 703 detects that the crawling robot is not in a balanced state, it will send a signal to the control module single chip microcomputer 601, and the control module single chip microcomputer 601 controls the bottom motor 703 to start, and drives the bevel gear set and the gear shaft 706 to rotate in turn, and then drives the track rotating holder 707 and the track wheel 304 system to swing, so that the surface of the track wheel 304 system and the surface of the angle steel 10 are in maximum contact.

[0046] Reference Fig. 9 When the crawling robot of the embodiment of the present application operates on the surface of a steel structure, the process of using the mechanical arm connection structure 5 to avoid obstacles and climb is as follows:

[0047] Figure (a) is a schematic diagram of the front vehicle 8 encountering an obstacle. The laser transmitter 103 is responsible for emitting a laser of a certain frequency. When there is an obstacle in front, the current received by the electric signal sensor module 202 changes, and the camera device 1 can be controlled to shoot the obstacle. When the image recognition module 203 detects that the image transmitted by the camera device 1 is an obstacle, it will store the signal in the information storage module 205. The information storage module 205 has a radio transmitting and receiving device inside, which will send a signal to the control module single chip 601. The track wheel motors 315 of the front and rear vehicles stop moving immediately after receiving the signal from the control module single chip 601, and the entire device remains stationary at this time.

[0048] Figure (b) is a schematic diagram of the mechanical arm connection structure 5 retracting when the front vehicle 8 encounters an obstacle. At this time, the front vehicle 8 remains stationary, and the control module single chip computer 601 respectively regulates the track wheel motor 315 and the mechanical arm motor 503 of the rear vehicle 9. The rear vehicle 9 moves forward slowly, and the mechanical arm motor 503 is connected to the mechanical arm shaft 504, which controls the mechanical arm 501 and the mechanical arm 502 to retract. The retraction distance and angle of the mechanical arm connection structure 5 are regulated by the data processing module 602 to prepare for subsequent obstacle avoidance and climbing.

[0049] Figure (c) is a schematic diagram of the mechanical arm connection structure 5 lifting the front vehicle 8. After the mechanical arm connection structure 5 is retracted, the data processing module 602 calculates the lifting height of the front vehicle 8. At this time, the control module single chip computer 601 regulates the power supply device 4, the rear vehicle power supply 402 is continuously powered on, and the magnetic suction device 301 of the rear vehicle 9 firmly adsorbs the rear vehicle 9 to the surface of the steel structure. The front vehicle power supply 401 cuts off the power of the magnetic suction device 301 of the front vehicle 8 to facilitate the subsequent lifting of the front vehicle 8. At this time, the front and rear vehicles 9 have a weight difference due to the magnetic suction device 301, and the weight of the rear vehicle 9 is greater than that of the front vehicle 8. The mechanical arm connection structure 5 slowly lifts the front vehicle 8, keeping the balance of the front vehicle 8 in the process. After lifting to the target height, the entire device remains stationary.

[0050] Figure (d) is a schematic diagram of the rear vehicle 9 moving close to an obstacle. At this time, the control module single chip computer 601 transmits a radio signal and transmits the signal to the data processing module 602, which calculates the distance that the rear vehicle 9 needs to move forward. The control module single chip computer 601 adjusts the track wheel motor 315 of the rear vehicle 9, and the front vehicle 8 and the mechanical arm connection structure 5 remain stationary relative to the rear vehicle 9. When the rear vehicle 9 moves to the target distance, this action ends.

[0051] Figure (e) is a schematic diagram of the mechanical arm connection structure 5 dropping the front vehicle 8 until it is in a horizontal position. At this time, the rear vehicle 9 is kept stationary, and the control module single chip computer 601 regulates the mechanical arm motor 503, and the front vehicle 8 is slowly dropped under the action of the mechanical arm 501 and the mechanical arm 502, and the posture balance detection device 603 is regulated until the front vehicle 8 is level with the steel structure surface. During the process, the mechanical arm connection structure 5 is still contracted to prepare for the lifting of the rear vehicle 9, and the action is completed at this time.

[0052] Figure (f) is a schematic diagram of the mechanical arm connection structure 5 lifting the rear vehicle 9. At this time, the control module single chip computer 601 regulates the power supply device 4, the front vehicle power supply 401 is continuously powered on, and the magnetic suction device 301 of the front vehicle 8 firmly adsorbs the front vehicle 8 to the surface of the steel structure; the rear vehicle power supply 402 cuts off the power of the magnetic suction device 301 of the rear vehicle 9, which facilitates the subsequent lifting of the rear vehicle 9; at this time, the front and rear vehicles 9 have a weight difference due to the magnetic suction device 301, and the weight of the front vehicle 8 is greater than that of the rear vehicle 9. The mechanical arm connection structure 5 slowly lifts the rear vehicle 9, keeping the balance of the rear vehicle 9 during the process. After lifting to the target height, the entire device remains stationary.

[0053] Figure (g) is a schematic diagram of the front vehicle 8 moving away from an obstacle. At this time, the control module single chip computer 601 transmits a radio signal and transmits the signal to the data processing module 602, calculates the distance that the front vehicle 8 needs to move forward, and the control module single chip computer 601 adjusts the track wheel motor 315 of the front vehicle 8, and the rear vehicle 9 and the mechanical arm connection structure 5 remain stationary relative to the front vehicle 8. When the front vehicle 8 moves to the target distance, this action ends.

[0054] As shown in Figure (h), it is a schematic diagram of the mechanical arm connection structure 5 dropping the rear vehicle 9 to a horizontal posture. At this time, the front vehicle 8 is kept stationary, and the control module single chip computer 601 regulates the mechanical arm motor 503, and the rear vehicle 9 is slowly dropped under the action of the mechanical arm 501 and the mechanical arm 502, and under the regulation of the posture balance detection device 603, until the rear vehicle 9 is level with the surface of the steel structure, and the mechanical arm connection structure 5 is restored to a horizontal state, and the rear vehicle power supply 402 device 4 supplies power to the rear vehicle 9 magnetic attraction device 301, and the obstacle crossing process of the entire mechanism is completed.

[0055] It should be noted that the mechanisms or devices involved in the entire obstacle-crossing movement process are all connected to the control device 6, and the power supply device 4 supplies power to the front and rear vehicles 9 to ensure the smooth progress of obstacle avoidance, climbing and other actions.

[0056] The above are only specific implementations of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A crawling robot for detecting surface damage of large steel structures, characterized in that: It includes a front car, a rear car and a control device; the front car and the rear car are connected by a mechanical arm connecting structure; a camera device and a flaw detection device are arranged at the front of the front car; both the front car and the rear car are provided with a moving mechanism and a transmission mechanism; the camera device includes an industrial camera and a laser transmitter; the flaw detection device includes a laser transceiver, an electric signal sensor module, an image recognition module, a photoelectric sensor and an information storage module; the industrial camera and the laser transmitter are both located above the laser transceiver; the photoelectric sensor is connected to the laser transceiver and the electric signal sensor module; the industrial camera is connected to the electric signal sensor module and the information storage module, and the information storage module is connected to the control device.

2. The crawling robot for detecting surface damage of large steel structures according to claim 1 is characterized in that: The camera device also includes an infrared probe and an LED light source; the infrared probe can provide infrared imaging for the shooting of the industrial camera; and the LED light source can provide a visual environment for shooting.

3. The crawling robot for detecting surface damage of large steel structures according to claim 1 is characterized in that: The moving mechanism includes a track wheel system respectively arranged on both sides of the transmission mechanism; the track wheel system includes two groups of track wheel assemblies and a track chain arranged outside the track wheel assemblies; two track wheel retainers are respectively connected to the two ends of the transmission mechanism; the track wheel assemblies are connected in the track wheel retainers; and the track wheel assemblies are connected to the track wheel motors.

4. The crawling robot for detecting surface damage of large steel structures according to claim 3 is characterized in that: The track wheel assembly includes two track wheels and a track wheel shaft arranged between the two track wheels; the moving mechanism also includes supporting rollers and sprocket wheels; the supporting rollers are connected to the track wheel shaft through the supporting roller shaft; the sprocket wheels are connected to the track wheel shaft through the sprocket wheel shaft.

5. The crawling robot for detecting surface damage of large steel structures according to claim 4, characterized in that: The transmission mechanism includes a bottom suspension beam, a motor support plate, a bottom motor, two rotating cage support structures, two sets of bevel gear groups, two gear shafts and two track rotating cages; the bottom suspension beam is arranged at the bottom of the front vehicle or the rear vehicle; the bottom motor is connected to the lower surface of the bottom suspension beam through the motor support plate; the inner ends of the two rotating cage support structures are respectively connected to the two sides of the bottom suspension beam, and the outer ends are hinged to the corresponding gear shafts; the gear shafts are connected to the corresponding track wheel cages through the track rotating cage; the driving wheels of the two sets of bevel gear groups are connected to the bottom motor, and the driven wheels are connected to the corresponding gear shafts.

6. The crawling robot for detecting surface damage of large steel structures according to claim 5, characterized in that: The crawler track rotating retainer is hinged to the gear shaft through a rotating block, a rotating block base and a locking nut.

7. The crawling robot for detecting surface damage of large steel structures according to claim 5, characterized in that: The mechanical arm connection structure includes two mechanical arms and a mechanical small arm connected between the two mechanical arms; one end of the mechanical arm is hinged to the front vehicle or the rear vehicle through a mechanical arm shaft, and the other end is hinged to the mechanical small arm through the mechanical arm shaft; the end of the mechanical arm shaft is connected to the mechanical arm motor.

8. The crawling robot for detecting surface damage of large steel structures according to claim 7, characterized in that: The control device includes a control module single chip microcomputer, a data processing module and a posture balance detection device; the posture balance detection device is arranged on a rotating holder; the input end of the data processing module is connected to the posture balance detection device and the information storage module, and the output end is connected to the input end of the control module single chip microcomputer, and the output end of the control module single chip microcomputer is connected to the track wheel motor, the bottom motor and the mechanical arm motor.

9. The crawling robot for detecting surface damage of large steel structures according to claim 8, characterized in that: The data processing module can calculate the contraction distance and angle of the robot arm connection structure according to the output signal of the information storage module.

10. The crawling robot for detecting surface damage of large steel structures according to claim 9, characterized in that: It also includes a power supply device; the power supply device includes a front vehicle power supply and a rear vehicle power supply; a magnetic suction device is provided on the track chain; the front vehicle power supply and the rear vehicle power supply respectively supply power to the corresponding magnetic suction device; the front vehicle power supply and the rear vehicle power supply are both connected to the control module microcontroller, and the control module microcontroller can control the power supply or power off of the front vehicle power supply or the rear vehicle power supply.

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