Steel roof multifunctional operation robot carrying platform and posture control method

Abstract

The invention relates to the technical field of mechanical engineering robots, in particular to a carrying platform of a multifunctional operation robot for a steel roof and a posture control method, and solves the problems that an existing robot cannot turn by 90 degrees vertically and horizontally and cannot cross obstacles in a space grid mechanism. The outer sides of the four corners of the base plate are each provided with a direction-adjustable wheel leg system, each direction-adjustable wheel leg system comprises a transverse telescopic mechanism and a vertical supporting leg, one end of each transverse telescopic mechanism is installed on the base plate, and the other end of each transverse telescopic mechanism is installed at the upper end of the corresponding vertical supporting leg in a rotating mode; the four outer side edges of the base plate are each provided with at least one set of middle telescopic wheel leg system, each middle telescopic wheel leg system comprises an oblique telescopic mechanism, one end of each oblique telescopic mechanism is installed on the base plate, and the other end of each oblique telescopic mechanism can stretch out and draw back in the oblique downward direction.

Description

Technical Field

[0001] The present invention relates to the field of mechanical engineering robot technology, in particular to the field of space steel roof robots, specifically to high-altitude grid structure spraying and inspection robot operations, and specifically to a steel roof multifunctional operation robot carrier and posture control method. Background Art

[0002] Currently, relevant research and demonstration applications are being carried out on steel structure spraying robots for high-altitude operations. For example, the prior art (announcement number CN202411919400.2) discloses a spatial grid high-altitude spraying robot, which replaces manual labor for inspection or spraying operations, solving the problems of high labor intensity and dangerous high-altitude operations within the spatial grid, effectively improving construction efficiency and accelerating project progress. However, existing robots are primarily designed for spatial grid structures with semi-enclosed trusses that have an inverted triangular cross-section. The robots travel on a single lower chord, equipped with guide rods or anti-drop accessories on their sides. However, spatial grid structures consist of multiple grid channels distributed vertically and horizontally, which can be divided into X- and Y-direction grid channels according to the front-to-back and left-to-right directions. The three-dimensional truss of this type of grid channel primarily consists of two lower chords and one upper chord. The upper and lower chords are connected by diagonal webs, and the lower chords are connected by transverse webs. The cross-section is triangular. However, existing robots exhibit several drawbacks: First, they struggle to achieve 90° rotations and can only navigate within a single grid channel. Moving to another grid requires manual labor, resulting in significant operational limitations. Second, on the lower chord channel, four diagonal webs are welded to the lower chord in a double V-shape approximately every three meters. This means that when the robot travels along the chord, it must simultaneously navigate obstacles on both lower chords for each distance, making obstacle navigation difficult for existing robots. Summary of the Invention

[0003] The present invention provides a platform and posture control method for a multifunctional steel roof operation robot, which overcomes the problems that existing robots are unable to make 90° turns and changes lanes in a spatial grid structure and are unable to overcome obstacles. The robot can walk along double lower chords in the spatial grid structure and can make 90° turns and changes lanes in the grid, thereby facilitating the robot to walk stably in the grid and perform subsequent operations.

[0004] The present invention is achieved through the following technical solutions: A multifunctional steel roof operation robot platform comprises a body, a rectangular base plate provided at the bottom of the body, and an adjustable wheel-leg system provided on the outer sides of the four corners of the base plate. The adjustable wheel-leg system comprises a lateral telescopic mechanism and vertical support legs, one end of the lateral telescopic mechanism being mounted on the base plate and the other end being pivotally mounted to the upper end of the vertical support legs. At least one set of middle telescopic wheel leg systems is provided on each of the four outer sides of the base plate, and the middle telescopic wheel leg system includes an oblique telescopic mechanism, one end of which is mounted on the base plate, and the other end of which is capable of telescoping in an oblique downward direction; The lower ends of the vertical supporting legs and the oblique telescopic mechanism are both provided with outwardly distributed walking telescopic mechanisms, and the outer ends of the walking telescopic mechanisms are provided with rotating wheels that can be driven to rotate.

[0005] Furthermore, the four corners of the base plate are provided with support plates extending laterally outward, and the support plates are provided with guide rail grooves distributed along the length direction, and a motor seat 2 is slidably mounted on the guide rail groove, and a motor 2 is provided on the motor seat 2, and the output shaft of the motor 2 is downward and connected to the upper end of the vertical support leg; The other end of the transverse telescopic mechanism is hinged on the second motor base.

[0006] Furthermore, the lateral telescopic mechanism includes a motor 1, two telescopic legs 1, two telescopic legs 2 and two gears; The base of the motor one is fixed on the base plate, one of the gears is fixed on the output shaft of the motor one, and the other gear is rotatably connected to the base plate. The tail ends of the two telescopic legs one are correspondingly fixedly connected to the two gears, the head ends of the two telescopic legs one are respectively hinged to the tail ends of the two telescopic legs two, and the head ends of the two telescopic legs two are jointly hinged to the motor base two.

[0007] Furthermore, the central telescopic wheel leg system includes a connecting rod 1, a connecting rod 2, a connecting rod 3, a connecting rod 4, a connecting rod 5, a connecting rod 6, a hinged support and a motor 3, wherein the connecting rod 1 is an isosceles trapezoidal structure, and a fixed base is provided on the bottom surface of the base plate; The base of the motor three is fixed on the fixed base, one end of the connecting rod five is connected to the output shaft of the motor three, and the other end is hinged to the lower right side of the connecting rod one, one end of the connecting rod four is hinged to the fixed base, and the other end is hinged to the upper right side of the connecting rod one, and the connecting rod four, the fixed base, the connecting rod five and the connecting rod one form a parallelogram plane linkage mechanism; One end of the connecting rod 3 is hinged to the upper portion of the left side of the connecting rod 1, and the other end is hinged to the hinge support. One end of the connecting rod 6 is hinged to the lower portion of the left side of the connecting rod 1, and the other end is hinged to the hinge support. The connecting rod 3, the connecting rod 1, the connecting rod 6 and the hinge support form a parallelogram planar connecting rod mechanism. One end of the connecting rod 2 is hinged to the connecting rod 3, and the other end is hinged to the connecting rod 5.

[0008] Furthermore, the walking telescopic mechanism includes motor four, motor five, motor seat five, a primary sleeve, a rotating wheel and a secondary sleeve. The secondary sleeve is slidably connected in the primary sleeve. A screw rod is threadedly connected in the secondary sleeve. The tail end of the screw rod is connected to the output shaft of the motor four through a turntable. The motor seat five is fixed to the head end of the secondary sleeve. The motor five is fixed on the motor seat five, and the rotating wheel is connected to the output shaft of the motor five.

[0009] Furthermore, in the middle telescopic wheel leg system, the motor four is fixed in the articulated support, and the tail end of the first-level sleeve is fixed on the side wall of the articulated support.

[0010] Furthermore, in the adjustable wheel leg system, a cylindrical motor seat four is fixed to the lower end of the vertical support leg, the motor four is fixed in the motor seat four, and the tail end of the first-level sleeve is fixed on the side wall of the motor seat four.

[0011] Furthermore, the vertical supporting leg includes a telescopic upper limb and a telescopic lower limb, both of which are long tube structures with rectangular cross-sections. The telescopic lower limb is arranged inside the telescopic upper limb, and a plurality of pin holes are distributed on the side wall of the telescopic upper limb along the length direction. The side wall of the telescopic lower limb is provided with a slot hole, and the pin hole of the telescopic upper limb is connected to the slot hole of the telescopic lower limb through a pin shaft.

[0012] A method for controlling the posture of a multifunctional steel roof operation robot platform is provided. The multifunctional steel roof operation robot platform is used to move within a spatial grid structure. The method comprises the following steps: S01. The spatial grid structure consists of multiple grid channels distributed vertically and horizontally. The grid channel where the steel roof multifunctional operation robot platform is initially located is defined as the X-direction grid channel, and the grid channels distributed perpendicular to the X-direction grid channel are defined as the Y-direction grid channels. S02. Initially, the steel roof multifunctional operation robot platform moves on the X-axis grid channel; During this process, the telescopic mechanisms corresponding to the adjustable wheel-leg system and the central telescopic wheel-leg systems on the left and right sides of the fuselage are distributed along the left and right directions of the fuselage. The telescopic mechanisms control the running wheels to move on the lower chords on both sides of the X-axis grid channel. S03. When the steel roof multifunctional operation robot platform encounters a fork-shaped obstacle while traveling on the X-axis grid channel, the adjustable wheel-leg system and the central telescopic wheel-leg systems on the left and right sides of the robot control their respective telescopic mechanisms to retract and extend in sequence to overcome the fork-shaped obstacle. S04. When the steel roof multifunctional operation robot platform needs to switch from traveling along the X-axis grid channel to traveling along the Y-axis grid channel, the telescopic travel mechanisms corresponding to the central telescopic wheel and leg systems on the front and rear sides of the robot body first extend outward, so that the running wheels of the telescopic travel mechanisms contact and support the lower chords on both sides of the Y-axis grid channel. Then, each adjustable wheel leg system performs the following actions in sequence: The vertical support legs and the corresponding telescopic travel mechanism are controlled to retract through the transverse telescopic mechanism, so that the running wheels of the telescopic travel mechanism are separated from the lower chords on both sides of the X-direction grid channel. The vertical support legs are controlled to drive the telescopic travel mechanism to rotate 90° in the horizontal plane. The vertical support legs and the corresponding telescopic travel mechanism are controlled to extend through the transverse telescopic mechanism, so that the running wheels of the telescopic travel mechanism contact and are supported on the lower chords on both sides of the Y-direction grid channel. Finally, the walking telescopic mechanisms corresponding to the central telescopic wheel-leg systems on the left and right sides of the fuselage retract inward, causing the rotating wheels of the walking telescopic mechanisms to detach from the lower chords on both sides of the X-direction grid channel, allowing the steel roof multifunctional operation robot platform to continue moving on the Y-direction grid channel.

[0013] Furthermore, a sensor array is provided at the center of the top surface of the fuselage, wherein the sensor array includes a plurality of sensor units, and the sensor units are laser sensors or ultrasonic sensors; It also includes the steel roof multifunctional operation robot platform travel correction mode; First, the real-time value y of the bottom surface of the upper chord is measured by the sensor array; Then, the horizontal offset of the sensor array relative to the upper chord is calculated based on y ; Horizontal offset The calculation formula is as follows: in, is the horizontal offset of the sensor array relative to the upper chord; y is the real-time value of the bottom surface of the upper chord measured by the sensor array; The distance from the lowest point on the bottom surface of the upper chord measured by the sensor array in the initial state; R is the radius of the upper chord; In this process, when y is less than , filter the y value, when y is greater than , filter the y value, Finally, according to the horizontal offset , carry out the steel roof multi-functional operation robot platform movement and correction operations.

[0014] Compared with the prior art, the present invention has the following beneficial effects: 1. The present invention provides a multifunctional steel roof operation robot platform, comprising a body, an adjustable wheel-leg system, and a central telescopic wheel-leg system. The adjustable wheel-leg system includes a lateral telescopic mechanism and vertical support legs, and the central telescopic wheel-leg system includes a diagonal telescopic mechanism. The lower ends of the vertical support legs and the diagonal telescopic mechanism are each provided with a laterally distributed walking telescopic mechanism facing outward. The robot can smoothly travel along double lower chords in a spatial grid structure, and can achieve smooth 90° vertical and horizontal steering within the grid to complete lane changing operations. The entire process is smooth and reliable. The present invention provides a posture control method for a multifunctional steel roof operation robot platform, which can not only stably walk in a grid channel with a triangular cross section, but also avoid the fork-shaped obstacle of the lower chord and stably achieve 90° vertical and horizontal steering within the grid. 2. The four corners of the base plate are provided with outwardly extending support plates, on which guide rail grooves are provided. A second motor seat is slidably mounted on the guide rail grooves. A second motor is provided on the second motor seat. The output shaft of the second motor faces downward and is connected to the upper end of the vertical support leg. When the horizontal telescopic mechanism is extended or retracted, the vertical support leg can be controlled to move smoothly, thereby improving the stability of the entire robot. 3. The lateral telescopic mechanism includes motor 1, two telescopic legs 1, two telescopic legs 2, and two gears. Motor 1 controls the lateral telescopic mechanism to achieve telescopic function. The central telescopic wheel leg system includes connecting rod 1, connecting rod 2, connecting rod 3, connecting rod 4, connecting rod 5, connecting rod 6, an articulated support, and motor 3. The connecting rod 1 is an isosceles trapezoidal structure. Motor 3 controls the central telescopic mechanism to achieve telescopic function. Both important telescopic mechanisms are driven by a single motor to achieve overall telescopic function. The telescopic process is smooth and firm, and the service life is long. 4. The walking telescopic mechanism includes motor 4, motor 5, motor base 5, primary sleeve and secondary sleeve. The rotating wheel is connected to the output shaft of motor 5, thereby controlling the lateral telescopic movement of the roller to meet the adjustment requirements. 5. The posture control method of the steel roof multifunctional operation robot platform of the present invention is based on the horizontal offset The movement deviation of the multifunctional robot platform for steel roof operation is corrected to achieve accurate navigation of the robot. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 This is a three-dimensional schematic diagram of the platform of the multifunctional steel roof operation robot according to the present invention; Figure 2 This is an exploded schematic diagram of the platform of the multifunctional steel roof operation robot according to the present invention; Figure 3 This is an exploded diagram of the adjustable wheel leg system of the present invention; Figure 4This is an exploded schematic diagram of the vertical support leg of the present invention; Figure 5 This is a schematic diagram of the central telescopic wheel leg system of the present invention; Figure 6 This is an exploded diagram of the central telescopic wheel leg system of the present invention; Figure 7 This is an exploded schematic diagram of the walking telescopic mechanism of the present invention; Figure 8 This is a schematic diagram of the turning process of the platform of the multifunctional steel roof operation robot according to the present invention; Figure 9 This is a schematic diagram of the obstacle-crossing process of the multifunctional steel roof operation robot platform of the present invention; Figure 10 This is a schematic diagram of the distance measurement of the sensor unit of the present invention; Figure 11 This is a schematic diagram of the sensor array ranging of the present invention; In the figure: 1. Body, 2. Robotic arm, 3. Adjustable wheel leg system, 31. Telescopic leg one, 32. Gear, 33. Motor one, 34. Telescopic leg two, 35. Motor seat two, 36. Motor two, 37. Support plate, 4. Middle telescopic wheel leg system, 41. Fixed base, 42. Motor three, 43. Connecting rod one, 44. Connecting rod two, 45. Connecting rod three, 46. Connecting rod four, 47. Connecting rod five, 48. Connecting rod six, 49. Articulated support, 5. Vertical support leg, 51. Telescopic upper limb, 52. Telescopic lower limb, 6. Walking telescopic mechanism, 61. Motor four, 62. Turntable, 63. Screw, 64. Primary sleeve, 65. Motor five, 66. Motor seat five, 67. Rotating wheel, 68. Secondary sleeve, 7. Sensor unit. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0017] In the description of the invention, it should be understood that the terms "front", "rear", "up", "down", "left", "right", etc., indicating directions or positional relationships, are based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific direction, be constructed and operated in a specific direction, and therefore cannot be understood as a limitation on the invention.

[0018] The spatial grid structure is composed of multiple grid channels distributed vertically and horizontally. These channels can be divided into X- and Y-direction grid channels, respectively, in the front-to-back and left-to-right directions. The three-dimensional truss of this type of grid channel primarily consists of two lower chords and one upper chord. The upper and lower chords are connected by diagonal webs, while the lower chords are connected by transverse webs. Its cross-section is triangular.

[0019] In order to adapt to the above spatial grid structure, such as Figure 1-Figure 3 The present embodiment discloses a multifunctional steel roof operation robot platform, which mainly includes a fuselage 1, an adjustable wheel-leg system 3, and a central telescopic wheel-leg system 4. A rectangular base plate is installed at the bottom of the fuselage 1, and the base plate is assembled and connected with the adjustable wheel-leg system 3 and the central telescopic wheel-leg system 4. The top surface of the fuselage 1 is also equipped with a mechanical arm 2 for performing related operations.

[0020] like Figure 4-7 As shown, a set of adjustable wheel leg systems 3 are respectively installed on the outer sides of the four corners of the base plate. The adjustable wheel leg system 3 mainly includes a lateral telescopic mechanism and a vertical support leg 5. A support plate 37 extending laterally outward is processed at the four corners of the base plate, and a guide rail groove distributed along the length direction is processed on the support plate 37. In order to improve the firmness of the support plate 37, a connecting frame is welded to the end of the support plate 37, and the other end of the connecting frame is welded to the outer side of the fuselage 1. A motor base 2 35 is slidably installed on the guide rail groove, and a motor 2 36 is installed on the motor base 2 35. The output shaft of the motor 2 36 faces downward and is connected to the upper end of the vertical support leg 5. One end of the lateral telescopic mechanism is installed on the base plate, and the other end is hinged to the motor base 2. With this design, when the motor 2 36 is running, it can control the vertical support leg 5 to rotate forward or reverse.

[0021] In this embodiment, to achieve the extension and retraction of the lateral telescopic mechanism, the mechanism includes a motor 1 33, two telescopic legs 1 31, two telescopic legs 2 34, and two gears 32. The base of motor 1 33 is first fixed to a base plate. One gear is fixed to the output shaft of motor 1 33, and the other gear is rotatably connected to the base plate via a bearing assembly. The two gears 32 mesh with each other for transmission. The tail ends of the two telescopic legs 1 31 are fixedly connected to the two gears 32, respectively. The head ends of the two telescopic legs 1 31 are respectively hinged to the tail ends of the two telescopic legs 2 34, and the head ends of the two telescopic legs 2 34 are hinged to the motor base 2 35. With this design, when motor 1 33 rotates forward and reverse, the two gears 32 mesh and transmit the transmission, achieving the extension and retraction of the lateral telescopic mechanism.

[0022] The vertical support leg 5 consists of a telescopic upper limb 51 and a telescopic lower limb 52. Both are long, rectangular tubular structures. The lower limb 52 is nestled within the upper limb 51. Multiple pin holes are distributed along the sidewall of the upper limb 51, while slots are machined into the sidewall of the lower limb 52. The pin holes in the upper limb 51 connect to the slots in the lower limb 52 via pins. This design allows the vertical support leg 5 to be adjusted to meet the needs of different robot heights.

[0023] In this embodiment, a central telescopic wheel leg system 4 is installed on each of the four outer sides of the base. This system 4 includes a diagonal telescopic mechanism, one end of which is mounted on the base, and the other end of which is capable of extending and retracting diagonally downward. Specifically, the central telescopic wheel leg system 4 includes a connecting rod 1 43, a connecting rod 2 44, a connecting rod 3 45, a connecting rod 46, a connecting rod 5 47, a connecting rod 6 48, an articulated support 49, and a motor 3 42. Connecting rod 1 43 is an isosceles trapezoidal structure, with a fixed base 41 located on the bottom surface of the base. The base of motor three 42 is fixed to fixed base 41. One end of connecting rod five 47 is fixedly connected to the output shaft of motor three 42, and the other end is hinged to the lower right side of connecting rod one 43. One end of connecting rod four 46 is hinged to fixed base 41, and the other end is hinged to the upper right side of connecting rod one 43. Connecting rod four 46, fixed base 41, connecting rod five 47, and connecting rod one 43 form a parallelogram planar linkage mechanism. One end of connecting rod three 45 is hinged to the upper left side of connecting rod one 43, and the other end is hinged to hinge support 49. One end of connecting rod six 48 is hinged to the lower left side of connecting rod one 43, and the other end is hinged to hinge support 49. Connecting rod three 45, connecting rod one 43, connecting rod six 48, and hinge support 49 form a parallelogram planar linkage mechanism. One end of connecting rod two 44 is hinged to connecting rod three 45, and the other end is hinged to connecting rod five 47. When the motor three 42 drives the connecting rod five 47 to rotate forward and reverse, the connecting rod two 44 pushes the connecting rod three 45 to rotate, and the lower end of the oblique telescopic mechanism can be extended and retracted in the oblique downward direction through the respective parallelogram plane connecting rod mechanisms.

[0024] To facilitate walking on the lower chord of the grid channel, the lower ends of the vertical support legs 5 and the diagonal telescopic mechanism are each equipped with a laterally extending walking and telescopic mechanism 6, which faces outward. In this embodiment, the walking and telescopic mechanism 6 comprises a motor 4 61, a motor 5 65, a motor base 5 66, a rotating wheel 67, a primary sleeve 64, and a secondary sleeve 68. The secondary sleeve 68 is slidably connected within the primary sleeve 64. A screw rod 63 is internally threadedly connected to the secondary sleeve 68. The tail end of the screw rod 63 is connected to the output shaft of the motor 4 61 via a rotating disk 62. When the motor 4 61 rotates forward or reverse, the secondary sleeve 68 can be controlled to extend or retract relative to the primary sleeve 64. The motor base 5 66 is fixedly connected to the head end of the secondary sleeve 68 via a bolt assembly. The motor 5 65 is fixed to the motor base 5 66. The rotating wheel 67 is fixedly connected to the output shaft of the motor 5 65. The rotating wheel 67 is designed in an elongated cylindrical shape to facilitate walking on the lower chord. The forward and reverse rotation of the motor 5 65 controls the rotating wheel's speed and direction.

[0025] In the central telescopic wheel leg system 4, to facilitate the connection between the telescopic travel mechanism 6 and the lower end of the diagonal telescopic mechanism, the motor 41 is fixed within the hinged support 49, and the tail end of the primary sleeve 64 is fixed to the side wall of the hinged support 49 via a bolt assembly. In the adjustable wheel leg system 3, to facilitate the connection between the telescopic travel mechanism 6 and the vertical support leg 5, a cylindrical motor base 4 is fixed to the lower end of the vertical support leg 5. The motor 41 is fixed within the motor base 4, and the tail end of the primary sleeve 64 is fixed to the side wall of the motor base 4.

[0026] The above-mentioned steel roof multifunctional operation robot platform moves within the spatial grid structure. Based on this, this embodiment also provides a posture control method for the steel roof multifunctional operation robot platform, including the following steps: S01. The spatial grid structure consists of multiple grid channels distributed vertically and horizontally. The grid channel where the steel roof multifunctional operation robot platform is initially located is defined as the X-direction grid channel, and the grid channels distributed perpendicular to the X-direction grid channel are defined as the Y-direction grid channels. S02. Initially, the steel roof multifunctional operation robot platform moves on the X-axis grid channel; During this process, the steel roof multifunctional operation robot platform is in a six-legged walking mode. The walking and telescopic mechanisms 6 corresponding to the adjustable wheel-leg system 3 and the middle telescopic wheel-leg system 4 on the left and right sides of the fuselage 1 are distributed along the left and right directions of the fuselage 1. The motor 5 65 of the walking and telescopic mechanism 6 controls the wheels 67 to walk on the lower chords on both sides of the X-direction grid channel. S03. When the steel roof multifunctional operation robot platform is moving along the X-axis grid channel, when the fuselage 1 encounters a fork-shaped obstacle, the adjustable wheel-leg system 3 and the central telescopic wheel-leg systems 4 on the left and right sides of the fuselage 1 control their respective traveling and telescopic mechanisms to retract and extend in sequence to cross the fork-shaped obstacle; like Figure 9As shown, in one obstacle crossing cycle, the two adjustable wheel-leg systems 3 at the front of the fuselage first cross the obstacle. Their lateral telescopic mechanisms drive the vertical support legs 5 and the traveling telescopic mechanism 6 to retract inward. At the same time, the traveling telescopic mechanism 6 drives the runner to retract, allowing the two adjustable wheel-leg systems 3 at the front of the fuselage to cross the fork-shaped obstacle. When the central telescopic wheel-leg systems 4 on the left and right sides of the fuselage 1 need to overcome an obstacle, the two sets of adjustable wheel-leg systems 3 at the front end of the fuselage are restored so that their rollers are once again supported on the lower chord. Then, the oblique telescopic mechanisms corresponding to the central telescopic wheel-leg systems 4 on the left and right sides of the fuselage 1 drive the traveling telescopic mechanisms 6 to retract inward. Simultaneously, the traveling telescopic mechanisms 6 drive the running wheels to retract and disengage from the lower chord, allowing the central telescopic wheel-leg systems 4 on the left and right sides of the fuselage 1 to overcome the fork-shaped obstacle. When the two adjustable wheel-leg systems 3 at the rear end of the fuselage need to overcome an obstacle, the middle telescopic wheel-leg systems 4 on the left and right sides of the fuselage 1 are restored so that their rollers are supported on the lower chord again; then the two adjustable wheel-leg systems 3 at the rear end of the fuselage retract to overcome the obstacle, pass the fork-shaped obstacle and restore themselves; S04. When the steel roof multifunctional operation robot platform needs to change from moving on the X-axis grid channel to moving on the Y-axis grid channel, Figure 8 As shown, first, the telescopic walking mechanism 6 corresponding to the central telescopic wheel-leg system 4 on the front and rear sides of the fuselage 1 extends outward, so that the running wheels 67 of the telescopic walking mechanism 6 contact and support the lower chords on both sides of the Y-direction grid channel, forming an eight-leg support mode; Then, each adjustable wheel leg system 3 performs the following actions in sequence: The vertical support legs 5 and the corresponding telescopic travel mechanism 6 are controlled to retract through the transverse telescopic mechanism, so that the wheels 67 of the telescopic travel mechanism 6 are separated from the lower chords on both sides of the X-direction grid channel. The vertical support legs 5 are controlled to drive the telescopic travel mechanism 6 to rotate 90° in the horizontal plane. The vertical support legs 5 and the corresponding telescopic travel mechanism 6 are controlled to extend through the transverse telescopic mechanism, so that the wheels 67 of the telescopic travel mechanism 6 contact and are supported on the lower chords on both sides of the Y-direction grid channel. Finally, the telescopic travel mechanisms 6 corresponding to the central telescopic wheel-leg systems 4 on the left and right sides of the fuselage 1 retract inward, disengaging the wheels 67 of the telescopic travel mechanisms 6 from the lower chords on either side of the X-axis grid channel, allowing the multifunctional steel roof work robot platform to continue its travel along the Y-axis grid channel. This solution enables smooth movement along the dual lower chords within the spatial grid structure and enables smooth 90° vertical and horizontal steering within the grid, completing lane changes. The entire process is smooth and reliable.

[0027] It is worth noting that the robot needs to achieve reliable and continuous positioning and navigation. Generally, the lateral offset distance is monitored and corrected according to the lateral offset distance. However, the ranging and navigation methods based on machine vision and lidar are easily affected by factors such as chord occlusion, changes in ambient light intensity, and robot shaking, making the environmental image collected by the camera unclear; and the environmental point cloud position data scanned by the lidar is inaccurate, making it difficult to accurately identify the exact position of targets such as the belly bar, making it difficult for the robot to accurately position and navigate. Figure 10-11 As shown, a sensor array is installed on the top surface of the robot body 1. The sensor array comprises multiple sensor units arranged in an array. These sensor units are laser sensors or ultrasonic sensors. In this embodiment, the sensor array includes five sensor units 7 for ranging: three sensor units 7 are distributed along the robot's longitudinal centerline, and three sensor units 7 are distributed along the robot's transverse centerline. This design ensures that the relevant parameters at three points can be measured accurately, regardless of whether the robot is moving longitudinally or transversely.

[0028] The sensor array enables the multifunctional steel roof operation robot to have a deviation correction mode when moving. Taking the robot moving along its front and rear longitudinal centerline as an example, the specific steps are as follows: First, the real-time value y of the bottom surface of the upper chord is measured by three longitudinally distributed sensor units 7 in the sensor array; Then, the horizontal offset of the three sensor units in the sensor array relative to the upper chord is calculated based on y ; Horizontal offset The calculation formula is as follows: in, is the horizontal offset of the sensor array relative to the upper chord; y is the real-time value of the bottom surface of the upper chord measured by the sensor array; The distance from the lowest point on the bottom surface of the upper chord measured by the sensor array in the initial state; R is the radius of the upper chord; In this process, when y is less than , filter the y value, when y is greater than , filter the y value, Finally, according to the three horizontal offsets , perform geometric calculations to obtain the offset angle between the longitudinal center line of the fuselage and the center line of the upper chord, and then adjust the speed and direction of the fuselage's wheels to carry out the steel roof multi-functional operation robot platform movement correction operation.

Claims

1. A multifunctional steel roof operation robot platform, characterized in that: The invention comprises a fuselage (1), wherein a rectangular base plate is provided at the bottom of the fuselage (1), and adjustable wheel leg systems (3) are respectively provided on the outer sides of the four corners of the base plate, wherein the adjustable wheel leg system (3) comprises a transverse telescopic mechanism and a vertical support leg (5), wherein one end of the transverse telescopic mechanism is mounted on the base plate, and the other end is rotatably mounted on the upper end of the vertical support leg (5); At least one set of middle telescopic wheel leg systems (4) is provided on each of the four outer sides of the base plate, and the middle telescopic wheel leg system (4) comprises an oblique telescopic mechanism, one end of the oblique telescopic mechanism is mounted on the base plate, and the other end of the oblique telescopic mechanism can be telescoped in an oblique downward direction; The lower ends of the vertical support legs (5) and the oblique telescopic mechanism are both provided with outwardly distributed transverse walking telescopic mechanisms (6), and the outer ends of the walking telescopic mechanisms (6) are provided with rotating wheels (67) capable of driving rotation.

2. The multifunctional steel roof operation robot platform according to claim 1, characterized in that: The four corners of the base plate are provided with support plates (37) extending outward laterally, the support plates (37) are provided with guide rail grooves distributed along the length direction, a second motor seat (35) is slidably mounted on the guide rail groove, a second motor (36) is provided on the second motor seat (35), and the output shaft of the second motor (36) is downwardly directed and connected to the upper end of the vertical support leg (5); The other end of the transverse telescopic mechanism is hinged on the second motor base.

3. The multifunctional steel roof operation robot platform according to claim 2, characterized in that: The transverse telescopic mechanism includes a motor 1 (33), two telescopic legs 1 (31), two telescopic legs 2 (34) and two gears (32); The base of the motor 1 (33) is fixed on the base plate, one of the gears is fixed on the output shaft of the motor 1 (33), and the other gear is rotatably connected to the base plate. The tail ends of the two telescopic legs 1 (31) are fixedly connected to the two gears (32) respectively, the head ends of the two telescopic legs 1 (31) are respectively hinged to the tail ends of the two telescopic legs 2 (34), and the head ends of the two telescopic legs 2 (34) are jointly hinged to the motor base 2 (35).

4. The multifunctional steel roof operation robot platform according to claim 1, characterized in that: The middle telescopic wheel leg system (4) includes a connecting rod 1 (43), a connecting rod 2 (44), a connecting rod 3 (45), a connecting rod 4 (46), a connecting rod 5 (47), a connecting rod 6 (48), a hinged support (49) and a motor 3 (42), wherein the connecting rod 1 (43) is an isosceles trapezoidal structure, and a fixed base (41) is provided on the bottom surface of the base plate; The base of the motor three (42) is fixed on the fixed base (41), one end of the connecting rod five (47) is connected to the output shaft of the motor three (42), and the other end is hinged to the lower right side of the connecting rod one (43), one end of the connecting rod four (46) is hinged to the fixed base (41), and the other end is hinged to the upper right side of the connecting rod one (43), and the connecting rod four (46), the fixed base (41), the connecting rod five (47) and the connecting rod one (43) form a parallelogram plane connecting rod mechanism; One end of the connecting rod 3 (45) is hinged to the upper left side of the connecting rod 1 (43), and the other end is hinged to the hinge support (49); one end of the connecting rod 6 (48) is hinged to the lower left side of the connecting rod 1 (43), and the other end is hinged to the hinge support (49); the connecting rod 3 (45), the connecting rod 1 (43), the connecting rod 6 (48) and the hinge support (49) form a parallelogram plane connecting rod mechanism; One end of the second connecting rod (44) is hinged to the third connecting rod (45), and the other end is hinged to the fifth connecting rod (47).

5. The multifunctional steel roof operation robot platform according to claim 4, characterized in that: The walking telescopic mechanism (6) includes a motor four (61), a motor five (65), a motor base five (66), a rotating wheel (67), a primary sleeve (64) and a secondary sleeve (68), wherein the secondary sleeve (68) is slidably connected in the primary sleeve (64), the secondary sleeve (68) is internally threaded with a screw rod (63), the tail end of the screw rod (63) is connected to the output shaft of the motor four (61) through a turntable (62), the motor base five (66) is fixed to the head end of the secondary sleeve (68), the motor five (65) is fixed on the motor base five (66), and the rotating wheel (67) is connected to the output shaft of the motor five (65).

6. The multifunctional steel roof operation robot platform according to claim 5, characterized in that: In the middle telescopic wheel leg system (4), the motor four (61) is fixed in the hinged support (49), and the tail end of the first-stage sleeve (64) is fixed on the side wall of the hinged support (49).

7. The multifunctional steel roof operation robot platform according to claim 5, characterized in that: In the adjustable wheel leg system (3), a cylindrical motor seat four is fixed to the lower end of the vertical support leg (5), the motor four (61) is fixed in the motor seat four, and the tail end of the first-stage sleeve (64) is fixed on the side wall of the motor seat four.

8. The multifunctional steel roof operation robot platform according to any one of claims 1 to 7, characterized in that: The vertical support leg (5) comprises a telescopic upper limb (51) and a telescopic lower limb (52), both of which are long tube structures with rectangular cross-sections. The telescopic lower limb (52) is sleeved inside the telescopic upper limb (51), and a plurality of pin holes are uniformly distributed along the length direction on the side wall of the telescopic upper limb (51). The side wall of the telescopic lower limb (52) is provided with a slot hole, and the pin holes of the telescopic upper limb (51) are connected to the slot holes of the telescopic lower limb (52) via a pin shaft.

9. A method for controlling the posture of a multifunctional robot platform for steel roof operations, characterized in that: The multifunctional steel roof operation robot platform according to any one of claims 1 to 7 is used to walk in a spatial grid structure, and the posture control method comprises the following steps: S01. The spatial grid structure consists of multiple grid channels distributed vertically and horizontally. The grid channel where the steel roof multifunctional operation robot platform is initially located is defined as the X-direction grid channel, and the grid channels distributed perpendicular to the X-direction grid channel are defined as the Y-direction grid channels. S02. Initially, the steel roof multifunctional operation robot platform moves on the X-axis grid channel; During this process, the walking and telescopic mechanisms (6) corresponding to the adjustable wheel leg system (3) and the middle telescopic wheel leg system (4) on the left and right sides of the fuselage (1) are distributed along the left and right directions of the fuselage (1), and the walking and telescopic mechanisms (6) control the rotating wheels (67) to walk on the lower chords on both sides of the X-direction grid channel; S03, when the steel roof multifunctional operation robot platform is moving on the X-axis grid channel, when the fuselage (1) encounters a fork-shaped obstacle, the adjustable wheel leg system (3) and the middle telescopic wheel leg systems (4) on the left and right sides of the fuselage (1) control their respective walking telescopic mechanisms to retract and extend in turn to cross the fork-shaped obstacle; S04. When the steel roof multifunctional operation robot platform needs to change from traveling on the X-axis grid channel to traveling on the Y-axis grid channel, first, the walking telescopic mechanism (6) corresponding to the middle telescopic wheel leg system (4) on the front and rear sides of the fuselage (1) is extended outward, so that the running wheels (67) of the walking telescopic mechanism (6) contact and support the lower chord rods on both sides of the Y-axis grid channel; Then, each adjustable wheel leg system (3) performs the following actions in sequence: The vertical support legs (5) and the corresponding walking telescopic mechanism (6) are controlled to retract by the transverse telescopic mechanism, so that the wheels (67) of the walking telescopic mechanism (6) are separated from the lower chords on both sides of the X-direction grid channel, the vertical support legs (5) are controlled to drive the walking telescopic mechanism (6) to rotate 90 degrees in the horizontal plane, and the vertical support legs (5) and the corresponding walking telescopic mechanism (6) are controlled to extend by the transverse telescopic mechanism, so that the wheels (67) of the walking telescopic mechanism (6) contact and are supported on the lower chords on both sides of the Y-direction grid channel; Finally, the walking telescopic mechanism (6) corresponding to the middle telescopic wheel leg system (4) on the left and right sides of the fuselage (1) retracts inward, so that the rotating wheels (67) of the walking telescopic mechanism (6) are separated from the lower chords on both sides of the X-direction grid channel, so that the steel roof multifunctional operation robot platform continues to move on the Y-direction grid channel.

10. The posture control method of the steel roof multifunctional operation robot platform according to claim 9, characterized in that: A sensor array is provided at the center of the top surface of the fuselage (1), wherein the sensor array comprises a plurality of sensor units, and the sensor units are laser sensors or ultrasonic sensors; It also includes the steel roof multifunctional operation robot platform travel correction mode; First, the real-time value y of the bottom surface of the upper chord is measured by the sensor array; Then, the horizontal offset of the sensor array relative to the upper chord is calculated based on y ; Horizontal offset The calculation formula is as follows: in, is the horizontal offset of the sensor array relative to the upper chord; y is the real-time value of the bottom surface of the upper chord measured by the sensor array; The distance from the lowest point on the bottom surface of the upper chord measured by the sensor array in the initial state; R is the radius of the upper chord; In this process, when y is less than , filter the y value, when y is greater than , filter the y value, Finally, according to the horizontal offset , carry out the steel roof multi-functional operation robot platform movement and correction operations.

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