Intelligent diagnosis and detection robot for steel box girder coating diseases

Abstract

The invention discloses an intelligent diagnosis and detection robot for coating diseases of a steel box girder, relates to the field of cable installation, solves the problems that when an existing diagnosis and detection robot for the coating diseases of the steel box girder is used, the detection range is limited, and maintenance operation is difficult to synchronously carry out, and comprises a machine body, a fixing mechanism, a detection mechanism and a maintenance mechanism, a propeller is arranged on the machine body, the fixing mechanism comprises a rotating cylinder, an electromagnet and a connecting rope, and the detection mechanism comprises an optical image collector. The machine body is moved to a position needing to be detected through the propeller, the rotating cylinder is rotated to a required angle through the fixing mechanism, so that the electromagnet is pushed out and adsorbed to the position of a steel box girder needing to be detected; the optical image collector is used for collecting the disease degree of the coating on the surface of the steel box girder and transmitting the disease degree to the ground control center for analyzing the detection result, the maintenance mechanism is used for shaking off and shoveling the disease coating on the surface of the steel box girder, a new coating is sprayed again, and the detection and maintenance efficiency is improved.

Description

Technical Field

[0001] The invention relates to the technical field of cable installation, and in particular to an intelligent diagnosis and detection robot for coating defects of steel box beams. Background Art

[0002] Steel box girder, also known as steel plate box girder, is a common structural form for long-span bridges. It is called steel box girder because it looks like a box. Among the steel structural components of cable-supported bridges, steel box girder is one of the most important and largest components. The surface of steel box girder is generally sprayed with anti-disease coatings such as epoxy coating, polyurethane coating, etc. The service life of these coatings is generally about 10 years, and regular inspection and maintenance are required to prevent diseases and rust inside the steel box girder. Due to the large size and different heights of steel box girders, the external maintenance of steel box girders is difficult and dangerous.

[0003] Existing steel box girder coating disease diagnosis and inspection robots are generally divided into two groups: climbing type and drone. These two devices have their own advantages and disadvantages. Climbing robots can get closer to the surface of the steel box girder for accurate diagnosis and maintenance operations, but it is difficult to reach some high places or locations with obstructions for maintenance. Drones fly at a high altitude and have a wide detection range, but the detection process is relatively far away from the steel box girder, making it difficult to directly sample and perform maintenance operations on the surface rust of the steel box girder. Summary of the invention

[0004] The purpose of the present invention is to provide an intelligent diagnosis and detection robot for coating defects of steel box girders, which is convenient for comprehensive detection of steel box girders at different positions, while improving detection accuracy and assisting maintenance operations, so as to solve the problems raised in the above-mentioned background technology.

[0005] To achieve the above-mentioned purpose, the present invention provides the following technical solutions: a steel box girder coating disease intelligent diagnosis and detection robot, comprising a body, a fixing mechanism, a detection mechanism and a maintenance mechanism, the body is provided with multiple sets of propellers, the fixing mechanism comprises a rotating cylinder installed on the body, an electromagnet is provided in the rotating cylinder, one end of the electromagnet is fixedly connected to a connecting rope, which is used to move the body to a desired detection position through the propeller, and rotate the rotating cylinder to a desired angle so that the electromagnet is pushed out and adsorbed on the desired detection position of the steel box girder, the detection mechanism comprises an optical image collector fixedly installed on the bottom of the body, which is used to collect the degree of coating disease on the surface of the steel box girder through the optical image collector and transmit it to a ground control center for analyzing the detection results, the maintenance mechanism is installed on the body, which is used to shake off and remove the diseased coating on the surface of the steel box girder, and re-spray a new coating, so as to facilitate comprehensive detection of steel box girders at different positions while improving detection accuracy and assisting maintenance operations.

[0006] Preferably, the fixing mechanism also includes an adjusting tube rotatably connected to the inner wall of the body, one end of the rotating cylinder is connected to the side wall of the adjusting tube, a rotating groove is opened on the side of the body, a winding shaft is rotatably connected in the adjusting tube, one end of the connecting rope is fixedly connected to the outer wall of the winding shaft, a control part for controlling the retracted and extended state of the electromagnet is provided in the body, and a rotating part for adjusting the rotation angle of the adjusting tube is provided in the body, so that the body can be moved to the position required for detection by the propeller, and the rotating cylinder is rotated to the required angle, so that the electromagnet is pushed out and adsorbed on the position of the steel box girder required for detection.

[0007] Preferably, the control component includes a high-pressure inflator fixedly installed in the body, the output end of the high-pressure inflator is coaxially rotatably connected to the outer wall of one end of the regulating tube, one end of the regulating tube is provided with a connecting hole connected to the output end of the high-pressure inflator, a magnet ring is fixedly connected in the rotating cylinder, a first motor is fixedly connected in the regulating tube, and the output end of the first motor is coaxially fixedly connected to one end of the winding shaft, so as to facilitate the control of the retraction and extension state of the electromagnet.

[0008] Preferably, the fixing mechanism further comprises a plurality of driving wheels installed on both sides of the machine body, and the outer walls of the driving wheels are transmission-connected with electromagnetic tracks to facilitate driving the machine body to move stably on the surface of the steel box beam.

[0009] Preferably, the maintenance mechanism includes a driving shaft coaxially fixedly installed between any pair of driving wheels on both sides, a plurality of device boxes are fixedly connected to the outer wall of the driving shaft, an impact block is slidably connected in the device box, one end of the impact block is fixedly connected to an impact spring fixedly connected to the device box, and a driving member is provided in the machine body for linking the impact block to intermittently and quickly impact the bottom during the rotation of the driving shaft, so as to shake off impurities on the surface of the steel box girder and the coating that is about to fall off.

[0010] Preferably, the maintenance mechanism also includes a storage box fixedly mounted on the machine body, the storage box is used to store the coating liquid to be sprayed, the bottom of the storage box is fixedly connected to a spray pipe, the bottom of the machine body is rotatably connected to a shovel plate via a clockwork shaft, the shovel plate is provided with an output groove, which is convenient for scraping off the diseased coating on the surface of the steel box girder and re-spraying a new coating.

[0011] Preferably, the driving member includes multiple groups of fixing rings fixedly installed in the body, the side of the impact block is fixedly connected to a guide rod, and the fixing ring is provided with a first arc groove and a second arc groove that can be slidably connected to the outer wall of the guide rod, and the two ends of the first arc groove are respectively provided with a first drop groove and a second drop groove that can slide and fit with the outer wall of the guide rod, and the two ends of the second arc groove are respectively connected with the first drop groove and the second drop groove, so as to facilitate the linkage of the impact block to intermittently and quickly impact the bottom during the rotation of the driving shaft.

[0012] Preferably, the rotating member includes a second motor fixedly mounted in the body, the output end of the second motor is coaxially fixedly connected with a worm, and one end of the adjusting tube is coaxially fixedly connected with a worm wheel meshing with the worm, so as to facilitate adjusting the rotation angle of the adjusting tube.

[0013] Preferably, a plurality of groups of sliding grooves are provided on the body, a sliding rod is slidably connected in the sliding groove, an electric telescopic rod is fixedly connected in the sliding rod, the telescopic end of the electric telescopic rod is fixedly connected to the inner wall of one end of the sliding groove, and a plurality of groups of propellers are respectively fixedly mounted on the plurality of sliding rods, so that the position of the propellers can be adjusted so that the propellers can be extended in the flight state. During the detection process, in order to reduce the size of the equipment and improve the convenience of passage, the propellers can be retracted for use.

[0014] Preferably, a camera is fixedly connected to the top side of the rotating cylinder to facilitate accurate monitoring and control of the emission direction of the electromagnet.

[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. The intelligent diagnosis and detection robot for coating defects of steel box girders provided by the present invention solves the problem that the detection range of existing diagnosis and detection robots for coating defects of steel box girders is relatively limited and it is difficult to perform maintenance operations simultaneously. The body is moved to the position required for detection by a propeller, and the rotating cylinder is rotated to the required angle by a fixing mechanism, so that the electromagnet is pushed out and adsorbed on the position of the steel box girder required for detection. The degree of coating defects on the surface of the steel box girder is collected by an optical image collector and transmitted to a ground control center for analysis of the detection results. The defective coating on the surface of the steel box girder is shaken off and removed by a maintenance mechanism, and a new coating is sprayed again, thereby improving the efficiency of detection and maintenance.

[0016] 2. The present invention provides an intelligent diagnosis and detection robot for coating defects on steel box girders. The device can be used to detect coating defects on the surfaces of steel box girders at different positions by switching between flight and climbing modes. It can be stably connected during the switching process to prevent the body from falling. The detection position is close to the surface of the steel box girder and the detection accuracy is high. At the same time, it can automatically clean and scrape the surface of the steel box girder and re-spray the coating for maintenance operations during the moving and climbing process. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 It is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the bottom structure of the machine body of the present invention; Figure 3 for Figure 2 A magnified image of area A; Figure 4 It is a schematic diagram of the local structure of the fixing mechanism of the present invention; Figure 5 for Figure 4 Enlarged view of area B; Figure 6 It is a schematic diagram of the partial structure of the maintenance mechanism of the present invention; Figure 7 for Figure 6 Enlarged view of area C in the middle; Figure 8 It is an exploded view of the local structure of the maintenance mechanism of the present invention; Fig. 9 for Figure 8 Enlarged view of area D in the middle; Fig.10 It is a partial structural sectional view of the fixing mechanism of the present invention.

[0018] In the figure: 1-body; 2-propeller; 3-fixing mechanism; 4-rotating cylinder; 5-electromagnet; 6-connecting rope; 7-detection mechanism; 8-optical image collector; 9-maintenance mechanism; 10-adjusting tube; 11-rotating groove; 12-winding shaft; 13-control part; 14-rotating part; 15-high-pressure inflator; 16-connecting hole; 17-magnet ring; 18-first motor; 19-driving wheel; 20-electromagnetic track; 21-driving shaft; 22 -device box; 23-impact block; 24-impact spring; 25-driving member; 26-storage box; 27-spraying tube; 28-shovel plate; 29-output slot; 30-fixing ring; 31-guide rod; 32-first arc groove; 33-second arc groove; 34-first drop groove; 35-second drop groove; 36-second motor; 37-worm; 38-worm wheel; 39-sliding slot; 40-sliding rod; 41-electric telescopic rod; 42-camera. DETAILED DESCRIPTION

[0019] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0020] See also Figure 1-Figure 10 The present invention provides a technical solution: an intelligent diagnosis and detection robot for coating defects of steel box beams, comprising a machine body 1, a fixing mechanism 3, a detection mechanism 7 and a maintenance mechanism 9, wherein the machine body 1 is provided with a plurality of propellers 2, and a plurality of sliding grooves 39 are provided on the machine body 1, wherein a sliding rod 40 is slidably connected in the sliding groove 39, and an electric telescopic rod 41 is fixedly connected in the sliding rod 40, and the telescopic end of the electric telescopic rod 41 is fixedly connected to the inner wall of one end of the sliding groove 39, and the plurality of propellers 2 are respectively fixedly installed on the plurality of sliding rods 40, and the fixing mechanism 3 comprises a rotating cylinder 4 installed on the machine body 1, wherein an electromagnet 5 is provided in the rotating cylinder 4, and a connecting rope 6 is fixedly connected at one end of the electromagnet 5, which is used to move the machine body 1 to a position required for detection through the propeller 2, and rotate the rotating cylinder 4 to a required angle, so that the electromagnet 5 is pushed out and adsorbed on the position of the steel box beam required for detection.

[0021] The detection mechanism 7 includes an optical image collector 8 fixedly installed at the bottom of the body 1, which is used to collect the degree of coating damage on the surface of the steel box girder through the optical image collector 8 and transmit it to the ground control center for analysis and detection results. The maintenance mechanism 9 is installed on the body 1, and is used to shake off and remove the diseased coating on the surface of the steel box girder, and re-spray a new coating. A camera 42 is fixedly connected to the top side of the rotating cylinder 4.

[0022] The fixing mechanism 3 also includes an adjusting tube 10 rotatably connected to the inner wall of the body 1, one end of the rotating cylinder 4 is connected to the side wall of the adjusting tube 10, a rotating groove 11 is opened on the side of the body 1, a winding shaft 12 is rotatably connected in the adjusting tube 10, one end of the connecting rope 6 is fixedly connected to the outer wall of the winding shaft 12, the fixing mechanism 3 also includes a plurality of driving wheels 19 installed on both sides of the body 1, the outer wall of the driving wheel 19 is transmission-connected with an electromagnetic crawler 20, a control member 13 for controlling the retracting and releasing state of the electromagnet 5 is provided in the body 1, a rotating member 14 for adjusting the rotation angle of the adjusting tube 10 is provided in the body 1, the rotating member 14 includes a second motor 36 fixedly installed in the body 1, the model of the second motor 36 is preferably YYHS-40, the output end of the second motor 36 is coaxially fixedly connected to a worm 37, and one end of the adjusting tube 10 is coaxially fixedly connected to a worm wheel 38 meshing with the worm 37.

[0023] The control component 13 includes a high-pressure inflator 15 fixedly installed in the body 1, and the output end of the high-pressure inflator 15 is coaxially connected to the outer wall of one end of the regulating tube 10. A connecting hole 16 connected to the output end of the high-pressure inflator 15 is opened at one end of the regulating tube 10. A magnet ring 17 is fixedly connected in the rotating cylinder 4, and a first motor 18 is fixedly connected in the regulating tube 10. The model of the first motor 18 is preferably YYHS-40, and the output end of the first motor 18 is coaxially fixedly connected to one end of the winding shaft 12.

[0024] The maintenance mechanism 9 includes a driving shaft 21 coaxially fixedly installed between any pair of driving wheels 19 on both sides, and the outer wall of the driving shaft 21 is fixedly connected to multiple groups of device boxes 22. An impact block 23 is slidably connected in the device box 22, and one end of the impact block 23 is fixedly connected to an impact spring 24 fixedly connected to the device box 22. A driving member 25 is provided in the body 1 for linking the impact block 23 to intermittently and quickly impact the bottom during the rotation of the driving shaft 21. The maintenance mechanism 9 also includes a storage box 26 fixedly installed on the body 1, and the storage box 26 is used to store the coating liquid to be sprayed. A spray pipe 27 is fixedly connected to the bottom of the storage box 26. A shovel plate 28 is rotatably connected to the bottom of the body 1 through a clockwork shaft, and an output groove 29 is opened on the shovel plate 28.

[0025] The driving member 25 includes multiple groups of fixing rings 30 fixedly installed in the body 1, and a guide rod 31 is fixedly connected to the side of the impact block 23. A first arc groove 32 and a second arc groove 33 that can be slidably connected to the outer wall of the guide rod 31 are provided in the fixing ring 30. The two ends of the first arc groove 32 are respectively provided with a first drop groove 34 and a second drop groove 35 that can slide and fit with the outer wall of the guide rod 31, and the two ends of the second arc groove 33 are respectively connected to the first drop groove 34 and the second drop groove 35.

[0026] In this embodiment, the electromagnetic track 20 of the body 1 is placed downward on one side, the electric telescopic rod 41 is controlled to push the sliding rod 40 out, and the propeller 2 is opened to drive the body 1 to fly to the required height. The worm 37 is driven to rotate by the second motor 36, and the worm 37 drives the worm wheel 38 to rotate, so that the adjustment tube 10 drives the rotating cylinder 4 to rotate to adjust the direction of the camera 42. The rotating cylinder 4 rotates in the rotating groove 11, and the image of the front end of the rotating cylinder 4 is observed through the camera 42. The direction of the body 1 is controlled by the propeller 2 so that the camera 42 is facing the position to be detected, and the angle of the rotating cylinder 4 is controlled so that the top of the rotating cylinder 4 is facing the steel box girder to be detected. At this time, the magnet ring 17 adsorbs the bottom of the electromagnet 5 inside the rotating cylinder 4.

[0027] Start the high-pressure inflator 15, and quickly fill the regulating tube 10 and the rotating cylinder 4 with high-pressure gas through the connecting hole 16. The gas pushes the electromagnet 5 out from the top of the rotating ring and drives the connecting rope 6 to be pulled out together. The electromagnet 5 hits and is adsorbed on the steel box girder that needs to be detected. At this time, the second motor 36 is controlled to rotate the rotating cylinder 4 to a position facing the bottom surface of the machine body 1, the propeller 2 is controlled to stop rotating, and the electric telescopic rod 41 is contracted to drive the sliding rod 40 to retract the propeller 2, thereby reducing the overall area of ​​the machine. At this time, the entire machine body 1 is adsorbed on the steel box girder through the connecting rope 6 and the electromagnet 5. Start the first motor 18 to drive the winding drum to reel, so that the connecting rope 6 can be gradually reeled onto the reel until the electromagnet 5 is inserted into the rotating cylinder 4 again and is adsorbed and limited by the magnet ring 17.

[0028] At this time, since the rotating cylinder 4 is oriented below the machine body 1, the open end face of the rotating cylinder 4 is parallel to the bottom surface of the electromagnetic track 20. When the electromagnet 5 is completely retracted into the rotating cylinder 4, the outer wall of the electromagnetic track 20 is adsorbed onto the side of the steel box girder. After that, the electromagnet 5 is powered off, and only the driving wheel 19 is used to drive the electromagnetic track 20 for transmission. This allows the machine body 1 to move on the outer wall of the steel box girder and ensure the stability of the connection state.

[0029] It should be noted that: installing multiple negative pressure suction cups or magnets on the crawler in a dispersed manner forms a crawler-type mobile adsorption mechanism, which has the advantages of large friction traction, good stability and strong wall adaptability. The advantage of the electromagnetic crawler 20 is that the magnet blocks are evenly distributed on the crawler, the overall magnetic force is greater, and it is easy to remove after detection. Considering that this project conducts mobile detection on the bottom and side walls of the steel box girder, the overall surface flatness is good, the operation safety requirements are high, and a higher magnetic force is required, so the magnetic suction crawler method is selected to be modified into the electromagnetic crawler 20.

[0030] During the movement of the machine body 1, the image of the coating on the surface of the steel box beam is collected by the optical image collector 8 at the bottom. At the same time, the clockwork shaft drives the bottom end of the shovel plate 28 to shovel against the outer wall of the steel box beam, so as to remove impurities on the surface of the steel box beam and the coating that is about to fall off, and output it through the output slot 29. During the rotation of the drive shaft 21, the device box 22 will drive the device box 22 to rotate continuously, and the device box 22 drives the impact block 23 to rotate. The guide rod 31 on the side of the impact block 23 slides in the first arc groove 32, the first drop groove 34, the second arc groove 33 and the second drop groove 35. When the guide rod 31 slides from the first arc groove 32 to the first drop groove 34, the impact spring 24 pops out quickly, so that the side of the impact block 23 quickly collides with the surface of the steel box beam, and the impurities on the surface of the steel box beam are preliminarily removed, which is convenient for the subsequent shovel plate 28 to remove.

[0031] After the collision, the guide rod 31 slides into the second arc groove 33 and then slides into the second drop groove 35. The impact block 23 is popped out by the impact spring 24 again, so that the side of the impact block 23 collides with the side of the shovel plate 28, and the impurities adhered to the shovel plate 28 are shaken off, realizing a preliminary self-cleaning operation, and avoiding the situation where the impurities on the surface of the shovel plate 28 continue to accumulate and affect the later shoveling efficiency. Then the guide rod 31 slides to one end of the first arc groove 32 again. In this way, the impact block 23 can intermittently and alternately impact the outer wall of the steel box girder and the shovel plate 28, and the impact effect is obvious, and the operation is convenient and efficient.

[0032] During the movement of the machine body 1, the coating liquid in the storage box 26 is sprayed onto the outer wall of the steel box girder through the spray pipe 27 to perform repair and maintenance operations, thereby extending the service life of the steel box girder. The spraying state and spraying amount can be controlled based on the data analysis collected by the optical image collector 8.

[0033] After the detection is completed, the electromagnet 5 is pushed out to the outer wall of the steel box girder again for adsorption, and the adsorption state of the electromagnetic track 20 is released. The body 1 falls and is only fixed by the connecting rope 6. The sliding rod 40 and the propeller 2 are controlled to extend, and the propeller 2 rotates to keep the body 1 in a horizontal and stable state. At this time, the position of the connecting rope 6 is in the rotating groove 11, which will not affect the rotation of the propeller 2. Then the power-on state of the electromagnet 5 is released, the electromagnet 5 falls, and the first motor 18 is controlled to reel in the connecting rope 6, so that the electromagnet 5 is retracted and fixed in the rotating cylinder 4. Thereafter, the body 1 can be controlled to land or fly to other positions to be detected to repeat the above operations.

[0034] The image of the surface coating of the steel box girder is collected by the optical image collector 8, and the collected image data is transmitted to the ground control center. The ground control center analyzes the two bridge diseases of corrosion and coating shedding, including shape, color, texture, pixel ratio of the rusted area, coverage area, and rust depth, and performs corrosion assessment. The HSV color space is used to analyze the image data, and the captured photos are converted into samples that are easy for the system to identify using filtering and denoising. The corrosion disease is then obtained by calculating the corrosion area in the sample, and the area of ​​corrosion damage on the steel surface can be determined. A report is generated based on the results to visualize the results. For the disease of coating shedding, the characteristics of different grayscales at the coating shedding location are used to process the image using the CANNY operator to calculate the actual coating shedding area, and the accuracy can reach more than 90%.

[0035] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0036] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. An intelligent diagnosis and detection robot for coating defects of steel box beams, characterized in that: include: A machine body (1), wherein the machine body (1) is provided with a plurality of sets of propellers (2); Also includes: A fixing mechanism (3), the fixing mechanism (3) comprising a rotating cylinder (4) mounted on the machine body (1), an electromagnet (5) being arranged inside the rotating cylinder (4), one end of the electromagnet (5) being fixedly connected to a connecting rope (6), for moving the machine body (1) to a desired detection position via the propeller (2), and rotating the rotating cylinder (4) to a desired angle, so that the electromagnet (5) is pushed out and adsorbed on the desired detection position of the steel box girder; A detection mechanism (7), the detection mechanism (7) comprising an optical image collector (8) fixedly mounted on the bottom of the machine body (1), used to collect the degree of coating damage on the surface of the steel box beam through the optical image collector (8) and transmit the detection results to a ground control center for analysis; A maintenance mechanism (9), the maintenance mechanism (9) being mounted on the machine body (1) and being used for shaking off and removing the defective coating on the surface of the steel box girder and re-spraying a new coating.

2. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 1 is characterized by: The fixing mechanism (3) further comprises an adjusting tube (10) rotatably connected to the inner wall of the body (1), one end of the rotating cylinder (4) is connected to the side wall of the adjusting tube (10), a rotating groove (11) is provided on the side of the body (1), a reel (12) is rotatably connected inside the adjusting tube (10), one end of the connecting rope (6) is fixedly connected to the outer wall of the reel (12), a control member (13) for controlling the retracting and extending state of the electromagnet (5) is provided inside the body (1), and a rotating member (14) for adjusting the rotation angle of the adjusting tube (10) is provided inside the body (1).

3. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 2 is characterized by: The control component (13) comprises a high-pressure inflator (15) fixedly mounted in the body (1); the output end of the high-pressure inflator (15) is coaxially rotatably connected to the outer wall of one end of the regulating tube (10); one end of the regulating tube (10) is provided with a connecting hole (16) connected to the output end of the high-pressure inflator (15); a magnet ring (17) is fixedly connected in the rotating cylinder (4); a first motor (18) is fixedly connected in the regulating tube (10); and the output end of the first motor (18) is coaxially fixedly connected to one end of the winding shaft (12).

4. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 1 is characterized by: The fixing mechanism (3) further comprises a plurality of sets of driving wheels (19) mounted on both sides of the machine body (1), and the outer walls of the driving wheels (19) are drivingly connected to electromagnetic tracks (20).

5. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 4 is characterized by: The maintenance mechanism (9) comprises a driving shaft (21) coaxially fixedly mounted between any pair of driving wheels (19) on both sides; a plurality of device boxes (22) are fixedly connected to the outer wall of the driving shaft (21); a collision block (23) is slidably connected inside the device box (22); one end of the collision block (23) is fixedly connected to a collision spring (24) fixedly connected to the device box (22); and a driving member (25) is provided inside the machine body (1) for intermittently and rapidly impacting the bottom by linking the collision block (23) during the rotation of the driving shaft (21).

6. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 5 is characterized by: The maintenance mechanism (9) further comprises a storage box (26) fixedly mounted on the machine body (1), wherein the storage box (26) is used to store the coating liquid to be sprayed, a spray pipe (27) is fixedly connected to the bottom of the storage box (26), and a shovel plate (28) is rotatably connected to the bottom of the machine body (1) via a clockwork shaft, and an output groove (29) is provided on the shovel plate (28).

7. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 6 is characterized by: The driving member (25) comprises a plurality of fixed rings (30) fixedly mounted in the body (1); a guide rod (31) is fixedly connected to the side of the impact block (23); a first arc groove (32) and a second arc groove (33) are provided in the fixed ring (30) and can be slidably connected to the outer wall of the guide rod (31); a first drop groove (34) and a second drop groove (35) are respectively provided at two ends of the first arc groove (32) and can be slidably fitted to the outer wall of the guide rod (31); and two ends of the second arc groove (33) are respectively connected to the first drop groove (34) and the second drop groove (35).

8. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 2 is characterized by: The rotating member (14) comprises a second motor (36) fixedly mounted in the machine body (1); an output end of the second motor (36) is coaxially fixedly connected to a worm (37); and one end of the regulating tube (10) is coaxially fixedly connected to a worm wheel (38) meshing with the worm (37).

9. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 1 is characterized by: The machine body (1) is provided with a plurality of sliding grooves (39), a sliding rod (40) is slidably connected in the sliding grooves (39), an electric telescopic rod (41) is fixedly connected in the sliding rod (40), a telescopic end of the electric telescopic rod (41) is fixedly connected to an inner wall of one end of the sliding groove (39), and a plurality of propellers (2) are respectively fixedly mounted on the plurality of sliding rods (40).

10. The intelligent diagnosis and detection robot for coating defects of steel box beams according to claim 1, characterized in that: A camera (42) is fixedly connected to the side surface of the top end of the rotating cylinder (4).

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