Intelligent ring rail robot and method for detecting deformation of construction scaffold

Abstract

The application discloses an intelligent ring rail robot and method for detecting deformation of construction scaffolding, and belongs to the field of safety detection of construction facilities. Specifically, the application provides a high-automation, high-practicability, and accurate-scaffolding-deformation-and-damage-identification inspection robot and an application method thereof. The robot overcomes the shortcoming of traditional methods that are difficult to quickly and accurately detect and analyze deformation information such as the bending degree and cracks of construction scaffolding, and is expected to be widely applied in the safety guarantee of construction scaffolding.

Description

Technical Field

[0001] This invention belongs to the field of safety inspection of construction facilities, especially the safety inspection technology of construction scaffolding, and particularly relates to an intelligent ring track robot and method for detecting deformation of construction scaffolding. Background Technology

[0002] Construction scaffolding, as a commonly used construction facility, directly impacts the safety of construction workers. During actual use, construction scaffolding may be subjected to external impacts, affecting its structural stability. Existing inspection methods mostly rely on manual methods to check the connection stability of construction scaffolding, limiting the scope of inspection and rarely checking for deformation of the steel pipes. Current testing devices and methods cannot accurately detect potential defects in construction scaffolding in a short period. Therefore, there is an urgent need for a highly automated method for detecting construction scaffolding deformation, thereby improving the efficiency and accuracy of deformation detection. To address this issue, this invention proposes an intelligent circular track robot and method for detecting construction scaffolding deformation. This method maximizes the efficiency of deformation detection, reduces manual intervention and risks, and acquires real-time data on defects such as bending and cracks in the steel pipes. This method overcomes the limitations of traditional methods and provides a reference for the safety design of construction scaffolding.

[0003] A review of publicly available patents revealed no methods or technologies for detecting deformation of construction scaffolding using intelligent robots. Therefore, this patent possesses originality. Very few publicly available patents involve the use of intelligent robots to detect the safety of construction scaffolding, as shown below:

[0004] CN115697641A discloses a scaffolding installation and dismantling robot, which uses an intelligent robot to automatically install and dismantle scaffolding. However, this device cannot perform safety inspections on the installed construction scaffolding. CN111593872B discloses a scaffolding center of gravity control device and control method for construction robots, which can avoid uneven ground pressure on the scaffolding and thus prevent scaffolding defects in the later stages. However, not all scaffolding defects are caused by uneven ground pressure, and this method cannot prevent all scaffolding defects. CN11223312B discloses an inspection robot for checking the stability of scaffolding connections, which can detect abnormalities such as scaffolding tilt and sway. However, the detected problems are not the essential phenomena, and it is difficult to automatically detect the causes of scaffolding tilt and sway. Summary of the Invention

[0005] Given that existing methods are insufficient for automatically detecting scaffold deformation, this paper proposes an intelligent ring-track robot and method for detecting scaffold deformation, providing a reference for the safety protection design of construction scaffolds.

[0006] This invention provides an intelligent circular track robot and method for detecting deformation of construction scaffolding. The intelligent circular track robot includes a first robotic arm, a second robotic arm, a robot body, a third robotic arm, and a fourth robotic arm.

[0007] Preferably, the first and second robotic arms are primarily drive arms, used to drive the intelligent circular track robot to move on the construction scaffold.

[0008] As a preferred option, the third and fourth robotic arms are primarily assist arms, used to help the intelligent circular track robot cross different scaffolding steel pipes.

[0009] Furthermore, the first robotic arm includes a first robotic forearm, a first front contact ball, a first front rotating shaft, a first robotic middle arm, a first middle contact ball, a first robotic rear arm, a first rear contact ball, a first rear rotating shaft, and a first platform rotating shaft; wherein, the first front contact ball is fixed to the inner side of the first robotic forearm, the first robotic forearm and the first robotic middle arm are connected through the first front rotating shaft; the first robotic middle arm is directly connected to the first robotic rear arm, the first middle contact ball is fixed to the inner side of the first robotic rear arm; the first robotic rear arm and the first rear rotating shaft are connected through the first rear contact ball, and the first rear rotating shaft is connected to the first platform rotating shaft.

[0010] Preferably, the deflection angle of the first machine forearm and the first machine middle arm is not less than 90°.

[0011] Preferably, the intersection point of the first machine middle arm and the first machine rear arm is fixed and cannot rotate relative to each other.

[0012] Preferably, the first contact ball is a robot propulsion drive ball that can rotate in all directions, and the contact layer between the first contact ball and the scaffold is made of leather with raised anti-slip texture on the surface.

[0013] Preferably, the first rear contact ball and the first rear rotating shaft are the robot's attitude adjustment devices, which can achieve deflection within 15° on the plane.

[0014] Preferably, the distance between the first platform's rotating shaft and the robot's main body is no less than 10mm.

[0015] Furthermore, the first front contact ball includes a first front contact ball shell, a first spring, a second spring, a third spring, a fourth spring, and an acceleration sensor; wherein, the acceleration sensor is connected to the first front contact ball shell through the first spring, the second spring, the third spring, and the fourth spring;

[0016] Preferably, the outer shell of the first front contact ball should be made of rigid polyvinyl chloride material.

[0017] Preferably, the first, second, and third springs are identical in size and material, the spring wire diameter should not exceed 1 mm, and the elongation after installation should not be less than 20%.

[0018] Preferably, the diameter of the spring wire of the fourth spring should not be less than 2mm, and its elongation after installation should not be greater than 2%.

[0019] Furthermore, the second robotic arm includes a second forearm, a second front contact ball, a second front pivot, a second middle arm, a second middle contact ball, a second rear arm, a second rear contact ball, a second rear pivot, and a second platform pivot; wherein, the second front contact ball is fixed to the inner side of the second forearm, and the second forearm and the second middle arm are connected through the second front pivot; the second middle arm is directly connected to the second rear arm, and the second middle contact ball is fixed to the inner side of the second rear arm; the second rear arm and the second rear pivot are connected through the second rear contact ball, and the second rear pivot is connected to the second platform pivot.

[0020] Preferably, the deflection angle of the second machine forearm and the second machine middle arm is not less than 90°.

[0021] Preferably, the intersection point of the second machine middle arm and the second machine rear arm is fixed and cannot rotate relative to each other.

[0022] Preferably, the second contact ball is a robot-driven ball that can rotate in all directions, and the contact layer between the second contact ball and the scaffold is made of leather with raised anti-slip texture on the surface.

[0023] Preferably, the second rear contact ball and the second rear rotating shaft are robot posture adjustment devices, which can achieve deflection within 15° on the plane.

[0024] Preferably, the distance between the second platform's rotating shaft and the robot's main body is no less than 10mm.

[0025] Furthermore, the second front contact ball includes a second front contact ball shell, a first sensing rod, a second sensing rod, a third sensing rod, a fourth sensing rod, and an acoustic emission sensor; wherein, the acoustic emission sensor is connected to the second front contact ball shell through the first sensing rod, the second sensing rod, the third sensing rod, and the fourth sensing rod, and the acoustic emission sensing wire is built into the fourth sensing rod.

[0026] Preferably, the outer shell of the second front contact ball should be made of low-carbon steel.

[0027] Preferably, the first, second, and third sensor rods are identical in size and material. The sensor rods are made of low-carbon steel and are fully connected to the outer shell of the second front contact ball. The cross-section of the sensor rods should be circular with a diameter greater than 5 mm.

[0028] Preferably, the fourth sensing rod has a diameter greater than 8mm and has a hole for acoustic emission sensing wires pre-drilled in it.

[0029] Preferably, the acoustic emission sensor is also packaged in low-carbon steel and is connected to the first, second, third, and fourth sensing rods.

[0030] Furthermore, the robot body includes a main shell, a temperature sensing indicator light, a first ranging indicator light, a main body balance indicator light, a camera lens, a second ranging indicator light, a high-intensity light, and a wireless signal indicator light; wherein the temperature sensing indicator light, the first ranging indicator light, the main body balance indicator light, and the wireless signal indicator light are all located at the bottom of the main shell; the camera lens, the second ranging indicator light, and the high-intensity light are all located at the front of the main shell.

[0031] As a preferred option, the main body shell is made of lightweight plastic.

[0032] As a preferred option, the activation order of each part is as follows: wireless signal indicator light, main body balance indicator light, first ranging indicator light, second ranging indicator light, camera lens, and high-intensity light.

[0033] Furthermore, the main body casing also includes a ranging system, a wireless transceiver, a battery, and a data storage device; wherein the ranging system, the wireless transceiver, the battery, and the data storage device are mounted inside the main body casing.

[0034] Furthermore, the third robotic arm includes a third robotic forearm, a third front contact ball, a third front rotating shaft, a third robotic middle arm, a third middle contact ball, a third robotic rear arm, a third rear contact ball, a third rear rotating shaft, and a third platform rotating shaft; wherein, the third front contact ball is fixed to the inner side of the third robotic forearm, the third robotic forearm and the third robotic middle arm are connected through the third front rotating shaft; the third robotic middle arm is directly connected to the third robotic rear arm, the third middle contact ball is fixed to the inner side of the third robotic rear arm; the third robotic rear arm and the third rear rotating shaft are connected through the third rear contact ball, and the third rear rotating shaft is connected to the third platform rotating shaft.

[0035] Preferably, the deflection angles of the third machine forearm and the third machine middle arm are not limited.

[0036] Preferably, the intersection point of the middle arm and the rear arm of the third machine is fixed and cannot rotate relative to each other.

[0037] Preferably, the third contact ball is a backup driving ball for the robot, which can rotate in all directions. The contact layer between the third contact ball and the scaffolding is made of leather with raised anti-slip texture on the surface.

[0038] Preferably, the third contact ball is used only when the robot crosses scaffold nodes.

[0039] Preferably, the third rear contact ball and the third rear rotating shaft are the robot's attitude adjustment devices, which can achieve deflection within 45° on the plane.

[0040] Preferably, the distance between the third platform's pivot and the robot's main body is no less than 20mm.

[0041] Furthermore, the third front contact ball includes a third front contact ball shell, a liquid nitrogen bladder, liquid nitrogen, and a liquid nitrogen nozzle; wherein, the liquid nitrogen nozzle is connected to the liquid nitrogen bladder, the liquid nitrogen bladder is located inside the third front contact ball shell, the liquid nitrogen nozzle is embedded in the third front contact ball shell, and the liquid nitrogen is contained inside the liquid nitrogen bladder.

[0042] Furthermore, the fourth robotic arm includes a fourth robotic forearm, a fourth front contact ball, a fourth front rotating shaft, a fourth robotic middle arm, a fourth middle contact ball, a fourth robotic rear arm, a fourth rear contact ball, a fourth rear rotating shaft, and a fourth platform rotating shaft; wherein, the fourth front contact ball is fixed to the inner side of the fourth robotic forearm, the fourth robotic forearm and the fourth robotic middle arm are connected through the fourth front rotating shaft; the fourth robotic middle arm is directly connected to the fourth robotic rear arm, the fourth middle contact ball is fixed to the inner side of the fourth robotic rear arm; the fourth robotic rear arm and the fourth rear rotating shaft are connected through the fourth rear contact ball, and the fourth rear rotating shaft is connected to the fourth platform rotating shaft.

[0043] Preferably, the deflection angles of the fourth machine forearm and the fourth machine middle arm are not limited.

[0044] Preferably, the intersection point of the fourth machine's middle arm and the fourth machine's rear arm is fixed, preventing relative rotation.

[0045] As a preferred option, the fourth contact ball is a backup driving ball for the robot, which can rotate in all directions. The contact layer between the fourth contact ball and the scaffolding is made of leather with raised anti-slip texture on the surface.

[0046] As a preferred option, the fourth contact ball is used only when the robot crosses a scaffold node.

[0047] Preferably, the fourth rear contact ball and the fourth rear rotating shaft are the robot's attitude adjustment devices, which can achieve deflection within 45° on the plane.

[0048] Preferably, the distance between the fourth platform's rotating shaft and the robot's main body is no less than 20mm.

[0049] Furthermore, the fourth front contact ball includes a fourth front contact ball shell, an electromagnet, and a wire.

[0050] Furthermore, the first, second, and third springs of the first front contact ball are thin wire springs, and the fourth spring is a support spring.

[0051] Furthermore, the method for detecting deformation of construction scaffolding based on an intelligent ring track robot includes the following steps: placing the intelligent ring track robot on the steel pipe of the scaffolding to be tested.

[0052] As a preferred method, the first and second robotic arms of the intelligent circular track robot are placed on the scaffold steel pipe to be inspected to ensure that the robot body is level. Then, the robot is started and the system is waited for to be leveled and activated.

[0053] Furthermore, it was confirmed that the ranging system, wireless transceiver, battery, and data storage device were operating normally.

[0054] Furthermore, the intelligent circular track robot is operated, the acceleration sensing system is activated, and it moves quickly on the scaffolding steel pipes to be inspected to measure the curvature of the scaffolding steel pipes.

[0055] As a preferred method, the moment when the intelligent ring-track robot measures the maximum acceleration is at the point where the scaffolding steel pipe has the maximum curvature.

[0056] As a preferred option, the location of the acceleration change measured by the intelligent circular track robot is the location of the change in the curvature of the scaffold steel pipe.

[0057] Furthermore, the intelligent circular track robot is operated, and the acoustic emission sensing system is activated to slowly move along the scaffolding steel pipes to be inspected, detecting the damaged parts of the scaffolding steel pipes.

[0058] As a preferred option, the intelligent circular track robot should travel at a speed not exceeding 0.2 meters per second.

[0059] As a preferred option, workers should pause their work while the intelligent circular track robot is moving at a slow speed.

[0060] As a preferred option, the ambient noise level should be no greater than 20dB during the slow movement of the intelligent circular track robot.

[0061] Furthermore, the intelligent circular track robot is operated, and the cooling and camera systems are activated to move along the scaffolding steel pipes to be inspected, detecting micro-cracks in the scaffolding steel pipes.

[0062] As a preferred method, an intelligent circular track robot is operated to release liquid nitrogen from the third front contact ball and move rapidly on the steel pipe of the construction scaffold to be tested.

[0063] As a preferred option, the intelligent circular track robot should travel at a speed of no less than 0.3 meters per second.

[0064] As a preferred method, the liquid nitrogen in the third front contact ball is turned off, the camera lens is turned on, and the camera moves slowly along the steel pipe of the scaffold to be inspected to take a thermal image of the steel pipe.

[0065] As a preferred option, the intelligent circular track robot should travel at a speed not exceeding 0.2 meters per second.

[0066] Preferably, the low-temperature zone shown in the thermal image is the area where the microcracks in the scaffolding steel pipe are located.

[0067] Compared with the prior art, the advantages and positive effects of the present invention are as follows:

[0068] This invention provides an intelligent ring-track robot and method for detecting deformation of construction scaffolding. Compared with existing technologies, this invention combines acceleration sensing technology, acoustic emission sensing technology, and thermal imaging sensing technology, and overcomes the shortcomings of traditional methods in quickly and accurately detecting and analyzing deformation information such as bending and cracks of construction scaffolding through an integrated intelligent ring-track robot platform. The method provided by this invention is simple to operate, highly automated, and is expected to be widely used in ensuring the safety of construction scaffolding. Attached Figure Description

[0069] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced one by one below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0070] Figure 1 This is a schematic diagram of the intelligent circular track robot structure provided in Example 1;

[0071] Figure 2 A schematic diagram of the first robotic arm structure provided in Embodiment 1;

[0072] Figure 3 This is a schematic diagram of the second robotic arm structure provided in Embodiment 1;

[0073] Figure 4 This is a schematic diagram of the main structure of the robot provided in Example 1;

[0074] Figure 5 This is a schematic diagram of the internal structure of the robot body provided in Example 1;

[0075] Figure 6 A schematic diagram of the third robotic arm structure provided in Embodiment 1;

[0076] Figure 7 A schematic diagram of the fourth robotic arm structure provided in Embodiment 1;

[0077] Figure 8 A schematic diagram of the first front contact ball provided in Example 2;

[0078] Figure 9 A schematic diagram of the second front contact ball provided in Example 3;

[0079] Figure 10 A schematic diagram of the third front contact ball provided in Example 4;

[0080] Figure 11 A schematic diagram of the fourth front contact ball provided in Example 4;

[0081] Figure 12 This is a schematic diagram of the robot moving on the scaffolding steel pipes provided in Example 4;

[0082] In the above figures, 1. First robotic arm; 2. Second robotic arm; 3. Robot body; 4. Third robotic arm; 5. Fourth robotic arm; 11. First robotic forearm; 12. First front contact ball; 13. First front pivot; 14. First robotic middle arm; 15. First middle contact ball; 16. First robotic rear arm; 17. First rear contact ball; 18. First rear pivot; 19. First platform pivot; 121. First front contact ball shell; 122. First spring; 123. Second spring; 124. Third spring; 125. Four springs; 126. Accelerometer sensor; 21. Second machine forearm; 22. Second front contact ball; 23. Second front pivot; 24. Second machine middle arm; 25. Second middle contact ball; 26. Second machine rear arm; 27. Second rear contact ball; 28. Second rear pivot; 29. ​​Second platform pivot; 221. Second front contact ball housing; 222. First sensing rod; 223. Second sensing rod; 224. Third sensing rod; 225. Fourth sensing rod; 226. Acoustic emission sensor; 227. Acoustic emission sensing wire; 31. Main body shell; 32. Temperature sensing indicator light; 33. First ranging indicator light; 34. Main body balance indicator light; 35. Camera lens; 36. Second ranging indicator light; 37. High-intensity light; 38. Wireless signal indicator light; 311. Ranging system; 312. Wireless transceiver; 313. Battery; 314. Data storage device; 41. Third robotic forearm; 42. Third front contact ball; 43. Third front pivot; 44. Third robotic middle arm; 45. Third middle contact ball; 46. Third robotic rear arm; 47. 48. Third rear contact ball; 49. Third rear shaft; 421. Third platform shaft; 422. Third front contact ball shell; 423. Liquid nitrogen bladder; 424. Liquid nitrogen nozzle; 51. Fourth machine forearm; 52. Fourth front contact ball; 53. Fourth front shaft; 54. Fourth machine middle arm; 55. Fourth middle contact ball; 56. Fourth machine rear arm; 57. Fourth rear contact ball; 58. Fourth rear shaft; 59. Fourth platform shaft; 521. Fourth front contact ball shell; 522. Electromagnet; 523. Wire. Detailed Implementation

[0083] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. It should be noted that, unless otherwise specified, the embodiments and features of the embodiments of this application can be combined with each other.

[0084] Numerous specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways than those described herein, and therefore the invention is not limited to the specific embodiments disclosed in the following specification.

[0085] Example 1: This example demonstrates the startup of an intelligent circular track robot. Please refer to [link / reference]. Figures 1-7 To ensure the proper functioning of the intelligent loop robot, the following steps must be followed when starting it up:

[0086] 1. Ensure that the scaffolding to be inspected is in a state of shutdown and that the surrounding noise signal is less than 20dB.

[0087] 2. Check the connection between the robot and the computer terminal, observe whether the wireless signal indicator (38) is lit, check whether the robot's battery is fully charged, and check whether the camera lens (35) is working properly.

[0088] 3. Check the normal operation of the accelerometer (126), acoustic emission sensor (226), temperature sensing indicator (32), main body balance indicator (34), liquid nitrogen bladder (422), and electromagnet (522).

[0089] 4. Fix the first robotic arm (1) and the second robotic arm (2) to the scaffold steel pipe, ensuring that the first front contact ball (12), the first middle contact ball (15), the second front contact ball (22), and the second middle contact ball (25) are in close contact with the scaffold steel pipe.

[0090] 5. Check the main body balance indicator (34) to ensure that the surface of the robot body (3) is roughly parallel to the scaffold steel pipe. Read the data of the first distance measuring indicator (33) and the second distance measuring indicator (36). Then move a short distance and read the data of the first distance measuring indicator (33) and the second distance measuring indicator (36) again to ensure that the difference between the data before and after is less than 0.1mm.

[0091] 6. Observe the real-time image transmitted by the camera lens (35) and use a strong light (37) to fill in the dim image.

[0092] Example 2 illustrates an application of intelligent circular track robot for detecting the bending degree of scaffolding steel pipes. Please refer to [link to example]. Figure 8 When using an intelligent circular track robot to detect the bending degree of scaffolding steel pipes, the following steps need to be followed to ensure the accuracy of the detection results:

[0093] 1. Control the intelligent circular track robot to move at a constant speed from one end of the scaffold steel pipe to the other end, and record the time-varying curve of acceleration.

[0094] 2. Control the intelligent circular track robot and use three different speeds to move at a constant speed from one end of the scaffold steel pipe to the other end, and record the time-varying curves of acceleration for each.

[0095] 3. Compare the peak points, anomalies, and other key information of the time-varying acceleration curves at different travel speeds, and record them as abnormal locations of the steel pipe bending.

[0096] Example 3 illustrates the use of an intelligent circular track robot to detect damaged sections of scaffolding steel pipes. Please refer to [link to example]. Figure 9 When using an intelligent circular track robot to inspect damaged parts of scaffolding steel pipes, the following steps should be followed to ensure the accuracy of the inspection results:

[0097] 1. Control the intelligent circular track robot to move at a constant speed from one end of the scaffold steel pipe to the other end and record the acoustic emission signal value.

[0098] 2. Control the intelligent circular track robot to move at three different speeds from one end of the scaffolding steel pipe to the other end at a constant speed, and record the acoustic emission signal values ​​for each speed.

[0099] 3. Compare the key information of abnormal points in the acoustic emission signal values ​​at different travel speeds and record them as the damaged parts of the steel pipe.

[0100] Example 4 illustrates the use of an intelligent circular track robot for microcrack detection in scaffolding steel pipes. Please refer to [link to example]. Figure 10 When using an intelligent ring-track robot to detect microcracks in scaffolding steel pipes, the following steps should be followed to ensure the accuracy of the detection results:

[0101] 1. Control the intelligent ring track robot to move at a constant speed from one end of the scaffold steel pipe to the other end and release the liquid nitrogen (423) in the third front contact ball (42).

[0102] 2. Turn off the liquid nitrogen (423) in the third front contact ball (42), turn on the camera lens (35), move slowly on the steel pipe of the scaffold to be tested, and take a thermal image of the steel pipe.

[0103] 3. Analysis of the low-temperature area shown in the thermal image indicates that it is the area where the micro-cracks in the scaffolding steel pipes are located.

Claims

1. An intelligent circular track robot for detecting deformation of construction scaffolding, characterized in that, The intelligent circular track robot includes a first robotic arm (1), a second robotic arm (2), a robot body (3), a third robotic arm (4), and a fourth robotic arm (5). The first robotic arm (1) includes a first robotic forearm (11), a first front contact ball (12), a first front rotating shaft (13), a first robotic middle arm (14), a first middle contact ball (15), a first robotic rear arm (16), a first rear contact ball (17), a first rear rotating shaft (18), and a first platform rotating shaft (19); wherein, the first front contact ball (12) is fixed to the inside of the first robotic forearm (11), the first robotic forearm (11) and the first robotic middle arm (14) are connected through the first front rotating shaft (13); the first robotic middle arm (14) is directly connected to the first robotic rear arm (16), the first middle contact ball (15) is fixed to the inside of the first robotic rear arm (16); the first robotic rear arm (16) and the first rear rotating shaft (18) are connected through the first rear contact ball (17), and the first rear rotating shaft (18) is connected to the first platform rotating shaft (19); The first front contact ball (12) includes a first front contact ball shell (121), a first spring (122), a second spring (123), a third spring (124), a fourth spring (125), and an acceleration sensor (126); wherein, the acceleration sensor (126) is connected to the first front contact ball shell (121) through the first spring (122), the second spring (123), the third spring (124), and the fourth spring (125); The second robotic arm (2) includes a second robotic forearm (21), a second front contact ball (22), a second front rotating shaft (23), a second robotic middle arm (24), a second middle contact ball (25), a second robotic rear arm (26), a second rear contact ball (27), a second rear rotating shaft (28), and a second platform rotating shaft (29); wherein, the second front contact ball (22) is fixed to the inside of the second robotic forearm (21), and the second robotic forearm (21) and the second robotic middle arm (24) are connected through the second front rotating shaft (23); the second robotic middle arm (24) is directly connected to the second robotic rear arm (26), and the second middle contact ball (25) is fixed to the inside of the second robotic rear arm (26); the second robotic rear arm (26) and the second rear rotating shaft (28) are connected through the second rear contact ball (27), and the second rear rotating shaft (28) is connected to the second platform rotating shaft (29); The second front contact ball (22) includes a second front contact ball shell (221), a first sensing rod (222), a second sensing rod (223), a third sensing rod (224), a fourth sensing rod (225), and an acoustic emission sensor (226); wherein, the acoustic emission sensor (226) is connected to the second front contact ball shell (221) through the first sensing rod (222), the second sensing rod (223), the third sensing rod (224), and the fourth sensing rod (225), and the acoustic emission sensing wire (227) is built into the fourth sensing rod (225); The robot body (3) includes a main shell (31), a temperature sensing indicator (32), a first ranging indicator (33), a main body balance indicator (34), a camera lens (35), a second ranging indicator (36), a high-intensity light (37), and a wireless signal indicator (38); wherein the temperature sensing indicator (32), the first ranging indicator (33), the main body balance indicator (34), and the wireless signal indicator (38) are all located at the bottom of the main shell (31); the camera lens (35), the second ranging indicator (36), and the high-intensity light (37) are all located at the front of the main shell (31); The main body shell (31) also includes a ranging system (311), a wireless transceiver (312), a battery (313), and a data storage device (314); wherein the ranging system (311), the wireless transceiver (312), the battery (313), and the data storage device (314) are mounted in the main body shell (31); The third robotic arm (4) includes a third robotic forearm (41), a third front contact ball (42), a third front rotating shaft (43), a third robotic middle arm (44), a third middle contact ball (45), a third robotic rear arm (46), a third rear contact ball (47), a third rear rotating shaft (48), and a third platform rotating shaft (49); wherein, the third front contact ball (42) is fixed to the inside of the third robotic forearm (41), and the third robotic forearm (41) and the third robotic middle arm (44) are connected by the third front rotating shaft (43); the third robotic middle arm (44) is directly connected to the third robotic rear arm (46), and the third middle contact ball (45) is fixed to the inside of the third robotic rear arm (46); the third robotic rear arm (46) and the third rear rotating shaft (48) are connected by the third rear contact ball (47), and the third rear rotating shaft (48) and the third platform rotating shaft (49) are connected; The third front contact ball (42) includes a third front contact ball shell (421), a liquid nitrogen bladder (422), liquid nitrogen (423), and a liquid nitrogen nozzle (424); wherein, the liquid nitrogen nozzle (424) is connected to the liquid nitrogen bladder (422), the liquid nitrogen bladder (422) is located inside the third front contact ball shell (421), the liquid nitrogen nozzle (424) is embedded in the third front contact ball shell (421), and the liquid nitrogen (423) is installed inside the liquid nitrogen bladder (422); The fourth robotic arm (5) includes a fourth robotic forearm (51), a fourth front contact ball (52), a fourth front rotating shaft (53), a fourth robotic middle arm (54), a fourth middle contact ball (55), a fourth robotic rear arm (56), a fourth rear contact ball (57), a fourth rear rotating shaft (58), and a fourth platform rotating shaft (59); wherein, the fourth front contact ball (52) is fixed to the inside of the fourth robotic forearm (51), the fourth robotic forearm (51) and the fourth robotic middle arm (54) are connected by the fourth front rotating shaft (53); the fourth robotic middle arm (54) is directly connected to the fourth robotic rear arm (56), the fourth middle contact ball (55) is fixed to the inside of the fourth robotic rear arm (56); the fourth robotic rear arm (56) and the fourth rear rotating shaft (58) are connected by the fourth rear contact ball (57), and the fourth rear rotating shaft (58) and the fourth platform rotating shaft (59) are connected; The fourth front contact ball (52) includes a fourth front contact ball shell (521), an electromagnet (522), and a wire (523).

2. The intelligent circular track robot for detecting deformation of construction scaffolding according to claim 1, characterized in that, The first spring (122), the second spring (123), and the third spring (124) of the first front contact ball (12) are thin wire springs, and the fourth spring (125) is a support spring.

3. A method for detecting deformation of construction scaffolding based on the intelligent circular track robot described in claim 1, characterized in that, The method for detecting deformation of construction scaffolding includes the following steps: S1: Place the intelligent ring track robot on the scaffolding steel pipe to be inspected; S2: Operate the intelligent circular track robot, activate the acceleration sensing system, and move quickly on the scaffolding steel pipe to be inspected to measure the curvature of the scaffolding steel pipe; S3: Operate the intelligent circular track robot, activate the acoustic emission sensing system, and slowly move on the scaffolding steel pipes to be inspected to detect the damaged parts of the scaffolding steel pipes; S4: Operate the intelligent circular track robot, start the cooling and camera system, and slowly move on the scaffolding steel pipes to be inspected to detect micro-cracks in the scaffolding steel pipes.

4. The method for detecting deformation of construction scaffolding based on an intelligent ring track robot according to claim 3, characterized in that, Step S1 further includes the following sub-steps: Place the first robotic arm (1) and the second robotic arm (2) of the intelligent circular track robot onto the scaffold steel pipe to be inspected, ensure that the robot body (3) is level, then start the robot and wait for the robot to level and activate each system; Ensure that the ranging system (311), wireless transceiver (312), battery (313), and data storage device (314) are operating normally.

5. The method for detecting deformation of construction scaffolding based on an intelligent ring track robot according to claim 3, characterized in that, Step S4 further includes the following sub-steps: Operate the intelligent ring track robot to release liquid nitrogen (423) from the third front contact ball (42) and move quickly on the steel pipe of the construction scaffold to be tested; Subsequently, the liquid nitrogen (423) in the third front contact ball (42) is shut off, the camera lens (35) is turned on, and the camera moves slowly on the steel pipe of the scaffold to be tested to take a thermal image of the steel pipe.

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