Steel gate detection six-foot three-section type wall-climbing robot and method for climbing over truss by steel gate detection six-foot three-section type wall-climbing robot

Abstract

The invention provides a steel gate detection six-foot three-section type wall-climbing robot and a truss crossing method thereof.The steel gate detection six-foot three-section type wall-climbing robot comprises a middle body module and end body modules at the two ends, first supporting legs are arranged on the two sides of the front end body module, second supporting legs are arranged on the two sides of the middle body module, and third supporting legs are arranged on the two sides of the tail end body module; two overturning modules are arranged between the end body modules and the middle body modules, detection and positioning modules are arranged on the end body modules, and the end body modules are rotationally connected with the middle body modules. According to the robot, the six-foot three-degree-of-freedom series configuration design is adopted, each leg module can independently achieve multi-dimensional movement, rotation around the Z axis, pitching around the X axis and the like, the robot has the bionic gait planning capacity, the foot falling point and the supporting posture can be flexibly adjusted, and therefore the robot stably crosses discontinuous and high-fall obstacles which a traditional moving mechanism difficultly passes through. The segments are connected through the high-rigidity overturning modules, and the problem that an integral robot is prone to instability and backward inclination when climbing over tall and large obstacles is solved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of gate detection, in particular to a steel gate detection six-legged three-section wall-climbing robot and a method for climbing a truss thereof. BACKGROUND

[0002] As a core component of dams and sluices, the safe operation of hydraulic steel gates is directly related to key links such as flood control, drought resistance, and water supply guarantee. After long-term use or experiencing special working conditions, steel gates are prone to defects such as deformation, corrosion, and weld cracking, which seriously threaten the safety and stability of the project and long-term benefits. Due to the complex structure of steel gates, and the lack of emptying conditions in most reservoirs and river channels, manual inspection is extremely difficult.

[0003] Current hydraulic steel gate detection mainly relies on manual or traditional wall-climbing robots, which have significant technical limitations. In terms of manual detection, operating personnel need to climb high altitudes or dive into underwater environments, which poses a high risk to personal safety. At the same time, due to operating conditions, there are systematic detection blind spots in large-scale surface and complex structure areas of the gate, such as beam grillage welds and back rod connections. The blind area is large, the efficiency is low, and the evaluation of key hidden danger parameters such as corrosion depth and micro-crack propagation is severely inaccurate. In terms of traditional wall-climbing robots, wheeled and tracked robots have insufficient degrees of freedom and are difficult to stably cross the truss structure protruding from the surface of the gate, with insufficient obstacle crossing ability. Vacuum adsorption robots are prone to adsorption force decay due to sealing failure on wet and corroded surfaces, posing a safety hazard. SUMMARY

[0004] The present application provides a steel gate detection six-legged three-section wall-climbing robot and a method for climbing a truss thereof, which solves the problem of high personal safety risk in manual detection, large blind area due to operating conditions, low efficiency, and inaccurate evaluation of key hidden danger parameters such as corrosion depth and micro-crack propagation.

[0005] The present application solves another technical problem: traditional wheeled and tracked robots have insufficient degrees of freedom and are difficult to stably cross the truss structure protruding from the surface of the gate, with insufficient obstacle crossing ability. Vacuum adsorption robots are prone to adsorption force decay, posing a safety hazard.

[0006] To solve the above technical problems, the technical solution adopted by the present application is: a steel gate detection six-legged three-section wall-climbing robot and a method for climbing a truss thereof, comprising a middle body module and end body modules at both ends, the end body module in front is provided with first support legs on both sides, the middle body module is provided with second support legs on both sides, and the end body module at the tail is provided with third support legs on both sides. Two flip modules are provided between the end body module and the middle body module, a detection and positioning module is provided on the end body module, and the end body module and the middle body module are rotationally connected.

[0007] In the preferred solution, the first leg comprises a first joint, a second joint and a third joint, the first joint is rotatably connected with the end body module, the first joint is rotatably connected with the second joint, and the second joint is rotatably connected with the third joint.

[0008] In the preferred solution, the first joint comprises a first joint driving steering engine and a first connecting member, the first joint driving steering engine is provided with a first disc on both sides of the output shaft, the first connecting member comprises two vertically connected U-shaped frames, one U-shaped frame is connected with the two first discs, the other U-shaped frame is connected with the second joint, and the first joint driving steering engine is connected with the end body module.

[0009] In the preferred solution, the second joint comprises a second joint driving steering engine and two secondary discs, the output shaft of the second joint driving steering engine is connected with the secondary discs, the two secondary discs are connected with the U-shaped frame, the second joint driving steering engine is provided with a secondary connecting member on both sides, and the secondary connecting member is connected with the third joint.

[0010] In the preferred solution, the third joint comprises a third joint driving steering engine and a supporting member, the output shaft of the third joint driving steering engine is provided with a third disc on both sides, and the supporting member is in U-shaped structure at one end and connected with the two third discs.

[0011] In the preferred solution, the first leg is provided with an electromagnetic chuck at the bottom, and the second leg and the third leg are the same in structure as the first leg.

[0012] In the preferred solution, the turnover module close to the first leg is a first turnover module, and the turnover module close to the third leg is a second turnover module, and the second turnover module is the same in structure as the first turnover module.

[0013] In the preferred solution, the first turnover module comprises a turnover steering engine, a front body plate and a rear body plate, the output shaft of the turnover steering engine is provided with a disc on both sides, the outer side of the disc is provided with a rotating plate, the two rotating plates are connected with the front body plate, the turnover steering engine is provided with a fixed plate on both sides, the fixed plate is connected with the rear body plate, the front body plate is connected with the end body module, and the rear body plate is connected with the middle body module.

[0014] In the preferred solution, the end body module is provided with a connecting seat on both sides, one end of the end body module is provided with two mounting seats, the middle body module is provided with a second connecting seat on both sides, and the middle body module is provided with a second mounting seat at both ends, the second mounting seat and the mounting seat are connected with the turnover module. The detection and positioning module comprises a depth camera and a detection camera, the depth camera is provided with a support, the detection camera is provided with a bottom support, the bottom support is provided with a rotating steering engine, the output shaft of the rotating steering engine is connected with the detection camera, and the bottom support and the support are mounted on the end body module.

[0015] A method for a steel gate detection six-legged three-section wall climbing robot to cross a truss, characterized by: S1, obstacle identification: the robot detects the distance of the front obstacle in real time through a depth camera, and transmits the information to the upper computer; when approaching the obstacle, the robot gradually adjusts the distance from the obstacle; S2, front segment lifting: the power supply of the electromagnetic suction cup of the first supporting leg is disconnected, the first overturning module works, the front end body module is overturned relative to the middle body module, and the first supporting leg is perpendicular to the truss; S3, front segment adsorption: the second joint and the third joint of the first supporting leg are driven to make the electromagnetic suction cup of the first supporting leg close to the truss, and the electromagnetic suction cup is powered on; S4, middle segment transition: the electromagnetic suction cup of the first supporting leg is powered off again, and the first joint of the first supporting leg is controlled to make the electromagnetic suction cup of the first supporting leg re-powered and adsorbed after climbing the truss for a distance; S5, the second supporting leg is powered off, the first overturning module and the second overturning module are driven to adjust the rotation angle of the middle body module, so that the middle body module is overturned and lifted until the second supporting leg is perpendicular to the truss; S6, middle segment adsorption: the second supporting leg is driven to make the second supporting leg adhere to the truss wall, and the electromagnetic suction cup of the second supporting leg is powered on and adsorbed; S7, two segment displacement: after the first supporting leg and the second supporting leg are powered off, the first joint of the first supporting leg and the second supporting leg is driven to make the front end body module and the middle body module climb and displace, and then the first supporting leg and the second supporting leg are powered on and adsorbed; S8, rear segment crossing: after the third supporting leg is powered off, the second overturning module is driven to lift the tail end body module until the third supporting leg is perpendicular to the truss, and then the third supporting leg is driven to make the third supporting leg adhere to the truss wall and be powered on and adsorbed, thereby completing the crossing.

[0016] The beneficial effects of the present application are: the device is a six-legged three-section wall climbing robot, and the overall device comprises three body modules, six leg modules, four overturning modules and a detection and positioning module. The rigid cavity structure of the three-section body module is connected to form an expandable body module. The three-section body module is hinged through the overturning module. The leg module adopts a three-degree-of-freedom serial configuration.

[0017] The robot has high motion flexibility: traditional wheeled or tracked robots generally have the problems of insufficient degrees of freedom and poor adaptability when facing complex obstacles such as trusses and welds protruding from the surface of the steel gate. The robot adopts a six-legged three-degree-of-freedom serial configuration design, each leg module can independently realize multidimensional motion, such as rotation around the Z-axis and pitching around the X-axis, has bionic gait planning capability, and can flexibly adjust the landing point and support posture, thereby stably crossing non-continuous and high-drop obstacles that are difficult to pass through by traditional mobile mechanisms.

[0018] The robot has strong adsorption reliability: compared with the traditional vacuum adsorption mode, the electromagnetic adsorption does not need sealing conditions, is not affected by surface moisture, rust or unevenness, and can provide continuous and stable adsorption force on the magnetic surface of the steel gate. The robot is integrated with an electromagnetic suction cup at the bottom of each leg module, and the on-off power strategy is controlled in different areas to realize alternating adsorption and release during movement, which not only ensures the movement flexibility, but also ensures the overall adsorption reliability, and solves the problem of falling caused by air leakage of the vacuum adsorption.

[0019] The robot has superior obstacle crossing stability: by adopting a three-section body structure, the segments are connected through high-rigidity turnover modules, supporting the relative turnover of 180° between the front and rear bodies. The robot has segmented climbing ability similar to insects, and can gradually transition the center of gravity of the body to the other side of the obstacle, thereby systematically solving the problem that the overall robot is prone to instability and rear tilting when climbing high obstacles.

[0020] The robot has integrated detection functions: the robot is integrated with a depth camera and an adjustable angle detection camera at the head, and has real-time environment perception and precise positioning capabilities. The depth camera is used for obstacle distance detection and robot pose estimation, and cooperates with the upper computer to realize autonomous path planning and obstacle avoidance; the detection camera can realize multi-angle shooting through the control of the rudder motor, and clearly capture defect images such as rust and cracks on the surface of the steel gate. The robot realizes the integration of movement, perception and detection functions, and improves the detection efficiency and automation level. BRIEF DESCRIPTION OF DRAWINGS

[0021] The application will be further described below in conjunction with the drawings and examples; Figure 1 is an axial side view of the overall structure of the application; Figure 2 is a side view of the overall structure of the application; Figure 3 is an exploded view of the overall structure of the application; Figure 4 is an axial side view of the first supporting leg of the application; Figure 5 is an exploded view of the first supporting leg of the application; Figure 6 is an axial side view of the first turnover module of the application; Figure 7 is an axial side view of the local structure of the application; Figure 8 is a side view of the front section turnover of the overall structure of the application; Figure 9 is an exploded view of the local structure of the application; Figure 10 is a flowchart of the climbing truss of the overall structure of the application; In the figure: first leg 1; second leg 2; third leg 3; end body module 4; connecting seat 401; mounting seat 402; middle body module 5; second connecting seat 501; second mounting seat 502; first turnover module 6; turnover steering engine 601; disc 602; rotating plate 603; fixed plate 604; rear body plate 605; front body plate 606; second turnover module 7; first joint 8; head joint drive steering engine 801; head disc 802; head connecting member 803; U-shaped frame 8031; second joint 9; secondary joint drive steering engine 901; secondary disc 902; secondary connecting member 903; third joint 10; end joint drive steering engine 1001; end disc 1002; support member 1003; electromagnetic suction cup 11; detection and positioning module 12; support 1201; depth camera 1202; rotary steering engine 1203; detection camera 1204; bottom support 1205; rotating shaft 1206. DETAILED DESCRIPTION

[0022] Example 1: As Figures 1-10 In the embodiment, a steel gate detection six-legged three-section wall climbing robot and a method for climbing a truss include a middle body module 5 and end body modules 4 at both ends. The end body module 4 in front is provided with first legs 1 on both sides, the middle body module 5 is provided with second legs 2 on both sides, and the end body module 4 at the tail is provided with third legs 3 on both sides. Two turnover modules are arranged between the end body module 4 and the middle body module 5. The detection and positioning module 12 is arranged on the end body module 4, and the end body module 4 is rotationally connected with the middle body module 5. Thus, the device is a six-legged three-section wall climbing robot, and the overall device includes three body modules, six leg modules, four turnover modules, and the detection and positioning module 12. The rigid cavity structure of the three-section body module is connected to form an expandable body module. The three-section body module is hinged through the turnover module.

[0023] The leg module adopts a three-degree-of-freedom serial configuration. The leg module includes a first joint 8, a second joint 9, and a third joint 10. The main components of the leg module include a head joint drive steering engine 801, a head connecting member 803, a secondary joint drive steering engine 901, a secondary connecting member 903, an end joint drive steering engine 1001, and a support member 1003. An electromagnetic suction cup 11 is installed at the bottom of each leg module. One end of the head connecting member 803 is connected with the head joint drive steering engine 801, and the other end is connected with the secondary joint drive steering engine 901, to realize rotational movement around the Z-axis in the XY plane.

[0024] The secondary connection member 903 connects the secondary joint drive steering engine 901 with the end joint drive steering engine 1001, and the secondary joint drive steering engine 901 and the end joint drive steering engine 1001 are arranged vertically at 90°, which saves space and guarantees the freedom of movement. The end joint drive steering engine 1001 drives the supporting member 1003 to realize the pitching movement around the X axis. The electromagnetic suction cup 11 is installed at the bottom of the supporting member 1003, which provides continuous and reliable suction force. The leg module structure is compact and has high transmission efficiency, and has good obstacle crossing stability and terrain adaptability.

[0025] The robot has high movement flexibility: the traditional wheeled or tracked robot generally has the problems of insufficient freedom and poor adaptability when facing complex obstacles such as the protruding truss and weld on the surface of the steel gate. The robot adopts a six-legged three-degree-of-freedom series connection configuration design, each leg module can independently realize multidimensional movement, such as rotation around the Z axis and pitching around the X axis, has the ability of bionic gait planning, and can flexibly adjust the landing point and support posture, so as to stably cross the non-continuous and high-fall obstacles that the traditional mobile mechanism cannot pass through.

[0026] The robot has strong adsorption reliability: compared with the traditional vacuum adsorption method, the electromagnetic adsorption does not require sealing conditions and is not affected by the surface moisture, rust or unevenness, and can provide continuous and stable adsorption force on the magnetic surface of the steel gate. The robot integrates an electromagnetic suction cup at the bottom of each leg module, and realizes the alternating adsorption and release in movement through the on-off power control strategy, which guarantees the movement flexibility and ensures the overall adsorption reliability, and solves the problem of falling caused by air leakage in vacuum adsorption.

[0027] The robot has superior obstacle crossing stability: by adopting a three-section body structure, the segments are connected through high-rigidity overturning modules, supporting the relative overturning of 180° between the front and rear bodies. The robot has the segmented climbing ability similar to insects, and can gradually transition the center of gravity of the body to the other side of the obstacle, thereby systematically solving the problem that the overall robot is easy to lose stability and tilt backward when climbing high obstacles.

[0028] The robot integrates detection functions: the robot integrates a depth camera and an adjustable angle detection camera in the head, and has real-time environment perception and precise positioning capabilities. The depth camera is used for obstacle distance detection and robot pose estimation, and cooperates with the upper computer to realize autonomous path planning and obstacle avoidance; the detection camera can realize multi-angle shooting through the control of the steering engine, and clearly capture the defect images such as rust and cracks on the surface of the steel gate. The robot realizes the integration of movement, perception and detection functions, and improves the detection efficiency and automation level.

[0029] In a preferred solution, the first leg 1 comprises a first joint 8, a second joint 9 and a third joint 10, the first joint 8 is rotatably connected with the end body module 4, the first joint 8 is rotatably connected with the second joint 9, and the second joint 9 is rotatably connected with the third joint 10. With this structure, the first leg 1, the second leg 2 and the third leg 3 are all leg modules, In a preferred solution, the first joint 8 comprises a first joint driving steering engine 801 and a first connecting member 803, the first joint driving steering engine 801 is provided with a first disc 802 on both sides of the output shaft, the first connecting member 803 comprises two vertically connected U-shaped frames 8031, one U-shaped frame 8031 is connected with the two first discs 802, the other U-shaped frame 8031 is connected with the second joint 9, and the first joint driving steering engine 801 is connected with the end body module 4. With this structure, the leg module adopts a three-degree-of-freedom series connection configuration, the leg module comprises the first joint 8, the second joint 9 and the third joint 10, and the main components of the leg module comprise the first joint driving steering engine 801, the first connecting member 803, the second joint driving steering engine 901, the second connecting member 903, the third joint driving steering engine 1001 and the support member 1003, and each leg module is provided with an electromagnetic suction cup 11 at the bottom. One end of the first connecting member 803 is connected with the first joint driving steering engine 801, and the other end is connected with the second joint driving steering engine 901, so as to realize the rotary motion around the Z axis in the XY plane.

[0030] In a preferred solution, the second joint 9 comprises a second joint driving steering engine 901 and two second discs 902, the output shaft of the second joint driving steering engine 901 is connected with the second discs 902, the two second discs 902 are connected with the U-shaped frame 8031, the second joint driving steering engine 901 is provided with a second connecting member 903 on both sides, and the second connecting member 903 is connected with the third joint 10. With this structure, the second connecting member 903 connects the second joint driving steering engine 901 with the third joint driving steering engine 1001, and the second joint driving steering engine 901 and the third joint driving steering engine 1001 are arranged vertically at an angle of 90°, which not only saves space but also guarantees the freedom of motion. The third joint driving steering engine 1001 drives the support member 1003 to realize the pitching motion around the X axis. The support member 1003 is provided with an electromagnetic suction cup 11 at the bottom, which provides continuous and reliable suction force. The leg module structure is compact and the transmission is efficient, and has good obstacle crossing stability and terrain adaptability.

[0031] In a preferred scheme, the third joint 10 comprises a final joint driven steering engine 1001 and a support member 1003, both sides of the output shaft of the final joint driven steering engine 1001 are provided with a final disc 1002, and one end of the support member 1003 is in a U-shaped structure and connected with the two final discs 1002. With this structure, the leg module structure effectively saves the installation space while ensuring the high movement freedom of the leg. By controlling the rotation angle of the secondary joint driven steering engine 901, the final joint driven steering engine 1001 can be driven in linkage, and then drive the whole leg to perform up-down pitching movement around the X axis. Finally, the other end of the final joint driven steering engine 1001 is connected with the support member 1003 through the final disc 1002 to form a rotary pair.

[0032] In a preferred scheme, the bottom of the first leg 1 is provided with an electromagnetic chuck 11, and the second leg 2 and the third leg 3 are the same as the first leg 1 in structure. With this structure, the bottom of the support member 1003 and the electromagnetic chuck 11 are connected through four screws. This configuration realizes high integration in limited space, and is compact in structure, and at the same time, realizes continuous and reliable adsorption effect in cooperation with the electromagnetic chuck 11, which significantly improves the movement and obstacle crossing stability of the leg assembly in the complex truss of the steel gate.

[0033] In a preferred scheme, the turnover module close to the first leg 1 is a first turnover module 6, the turnover module close to the third leg 3 is a second turnover module 7, and the second turnover module 7 is the same as the first turnover module 6 in structure. With this structure, the output end of the turnover steering engine 601 is connected with the rotating plate 603 through the disc 602, the rotating plate 603 is fixed with the front body plate 606, and then connects the front end body module 4; the turnover steering engine 601 is connected with the rear body plate 605 through the fixed plate 604, and finally connects the rear end body module 4. By controlling the angle of the turnover steering engine 601, the turnover movement of 180° of the two end body modules 4 can be realized to adapt to the posture adjustment requirement when crossing obstacles. The fixed plate 604 and the rear body plate 605 enhance the connection stiffness, reduce the risk of structure fracture, and ensure the movement reliability.

[0034] In the preferred scheme, the first flipping module 6 comprises a flipping rudder 601, a front body plate 606 and a rear body plate 605, the output shaft of the flipping rudder 601 is provided with a disc 602 on both sides, the disc 602 is provided with a rotating plate 603 on the outside, the two rotating plates 603 are connected with the front body plate 606, the flipping rudder 601 is provided with a fixed plate 604 on both sides, the fixed plate 604 is connected with the rear body plate 605, the front body plate 606 is connected with the end body module 4, and the rear body plate 605 is connected with the middle body module 5. With this structure, the body modules are connected through the flipping module, and the flipping module can make the adjacent segments realize 180° flipping movement up and down during obstacle crossing. The output end of the flipping rudder 601 is connected with one end of the disc 602 and the rotating plate 603, and the other end of the rotating plate 603 is fixed on the left and right sides of the front body plate 606 through bolts. Then, the upper and lower ends of the front body plate 606 are connected with the front end body module 4 through bolts. By controlling the rotation angle of the flipping rudder 601, the front end body module 4 can be driven to realize the up-down flipping movement, so as to adapt to the obstacle crossing demand in the complex truss environment.

[0035] In the preferred scheme, the end body module 4 is provided with a connecting seat 401 on both sides, one end of the end body module 4 is provided with two mounting seats 402, the middle body module 5 is provided with a second connecting seat 501 on both sides, and the middle body module 5 is provided with a second mounting seat 502 at both ends, the second mounting seat 502 and the mounting seat 402 are connected with the flipping module; The detection and positioning module 12 comprises a depth camera 1202 and a detection camera 1204, the depth camera 1202 is provided with a support 1201, the detection camera 1204 is provided with a bottom support 1205, the bottom support 1205 is provided with a rotating rudder 1203, the output shaft of the rotating rudder 1203 is connected with the detection camera 1204, and the bottom support 1205 and the support 1201 are installed on the end body module 4. With this structure, the detection and positioning module 12 is installed on the head of the robot, which is used for realizing environment perception, obstacle detection and defect identification. The detection and positioning module 12 comprises a positioning module on the upper end of the robot head and a detection module on the lower end. The positioning module has real-time ranging and positioning functions through the depth camera 1202, can detect the distance from the front obstacle in real time, prevent collision, and realize accurate positioning in cooperation with the upper computer. The detection module comprises a rotating rudder 1203 and a detection camera 1204, the detection camera 1204 is installed on the bottom support 1205 through a rotating shaft 1206, the detection camera 1204 can be driven to flip up and down by controlling the rotation angle of the rotating rudder 1203, so as to shoot the surface defect image of the steel gate from multiple angles, and the angle can be adjusted to avoid obstacles during obstacle crossing. The device realizes stable movement, reliable obstacle crossing and high-definition detection of the robot on the complex magnetic surface of the steel gate through the cooperation of multiple modules, and has the advantages of compact structure, flexible movement and reliable control.

[0036] Example 2: Further illustrated in combination with Embodiment 1 is a method for a steel gate detecting a six-legged three-section wall-climbing robot to climb over a truss, S1, obstacle identification: the robot detects the distance of the front obstacle in real time through the depth camera 1202, and transmits the information to the upper computer; when approaching the obstacle, the robot gradually adjusts the distance from the obstacle; S2, front segment lifting: the power supply of the electromagnetic suction cup 11 of the first supporting leg 1 is disconnected, the first overturning module 6 works, the front end body module 4 is overturned relative to the middle body module 5, and the first supporting leg 1 is perpendicular to the truss; S3, front segment adsorption: the second joint 9 and the third joint 10 of the first supporting leg 1 are driven to make the electromagnetic suction cup 11 of the first supporting leg 1 close to the truss, and the electromagnetic suction cup 11 is powered on; S4, middle segment transition: the electromagnetic suction cup 11 of the first supporting leg 1 is powered off again, and the first joint 8 of the first supporting leg 1 is controlled to make the electromagnetic suction cup 11 of the first supporting leg 1 re-powered and adsorbed after the first supporting leg 1 moves a certain distance on the truss; S5, the second supporting leg 2 is powered off, the first overturning module 6 and the second overturning module 7 are driven to adjust the rotation angle of the middle body module 5, so that the middle body module 5 is overturned and lifted until the second supporting leg 2 is perpendicular to the truss; S6, middle segment adsorption: the second supporting leg 2 is driven to make the second supporting leg 2 close to the truss wall, and the electromagnetic suction cup 11 of the second supporting leg 2 is powered on and adsorbed; S7, two segment displacement: after the first supporting leg 1 and the second supporting leg 2 are powered off, the first joint 8 of the first supporting leg 1 and the second supporting leg 2 is driven to make the front end body module 4 and the middle body module 5 climb and displace, and then the first supporting leg 1 and the second supporting leg 2 are powered on and adsorbed; S8, rear segment climbing: after the third supporting leg 3 is powered off, the second overturning module 7 is driven to lift the tail end body module 4 until the third supporting leg 3 is perpendicular to the truss, and then the third supporting leg 3 is driven to make the third supporting leg 3 close to the truss wall and be powered on and adsorbed, and the climbing is completed.

[0037] The above embodiments are only preferred technical solutions of the present application, and should not be regarded as limitations of the present application. The protection scope of the present application should be the technical solutions recited in the claims, including equivalent replacement solutions of the technical features recited in the claims. That is, equivalent replacement improvements within this scope are also within the protection scope of the present application.

Claims

1. A steel gate detection six-legged three-section wall-climbing robot, characterized in that: The application relates to a robot body module. The body module (5) and two end body modules (4) are arranged, first end body modules (4) are arranged on the two sides of the front end body module (4), second end body modules (2) are arranged on the two sides of the middle body module (5), and third end body modules (3) are arranged on the two sides of the rear end body module (4); two turnover modules are arranged between the end body module (4) and the middle body module (5); a detection and positioning module (12) is arranged on the end body module (4); and the end body module (4) and the middle body module (5) are rotationally connected.

2. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 1, characterized in that: The first end body module (1) comprises a first joint (8), a second joint (9) and a third joint (10); the first joint (8) is rotationally connected with the end body module (4); the first joint (8) is rotationally connected with the second joint (9); and the second joint (9) is rotationally connected with the third joint (10).

3. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 2, characterized in that: The first joint (8) comprises a first joint driving steering engine (801) and a first connecting member (803); the output shaft of the first joint driving steering engine (801) is provided with first level discs (802) on the two sides; the first connecting member (803) comprises two vertically connected U-shaped frames (8031); one U-shaped frame (8031) is connected with the two first level discs (802); the other U-shaped frame (8031) is connected with the second joint (9); and the first joint driving steering engine (801) is connected with the end body module (4).

4. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 2, characterized in that: The second joint (9) comprises a second joint driving steering engine (901) and two secondary discs (902); the output shaft of the second joint driving steering engine (901) is connected with the secondary discs (902); the two secondary discs (902) are connected with the U-shaped frame (8031); the second joint driving steering engine (901) is provided with secondary connecting members (903) on the two sides; and the secondary connecting members (903) are connected with the third joint (10).

5. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 2, characterized in that: The third joint (10) comprises a third joint driving steering engine (1001) and a supporting member (1003); the output shaft of the third joint driving steering engine (1001) is provided with tertiary discs (1002) on the two sides; and the supporting member (1003) is in a U-shaped structure at one end and is connected with the two tertiary discs (1002).

6. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 1, characterized in that: The first end body module (1) is provided with an electromagnetic suction disc (11) at the bottom; the second end body module (2) and the third end body module (3) are the same as the first end body module (1) in structure.

7. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 1, characterized in that: The turnover module close to the first end body module (1) is a first turnover module (6); the turnover module close to the third end body module (3) is a second turnover module (7); and the second turnover module (7) is the same as the first turnover module (6) in structure.

8. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 7, characterized in that: The first turnover module (6) comprises a turnover steering engine (601), a front body plate (606) and a rear body plate (605); the output shaft of the turnover steering engine (601) is provided with discs (602) on the two sides; the discs (602) are provided with rotating plates (603) on the outer sides; the two rotating plates (603) are connected with the front body plate (606); the turnover steering engine (601) is provided with fixed plates (604) on the two sides; the fixed plates (604) are connected with the rear body plate (605); the front body plate (606) is connected with the end body module (4); and the rear body plate (605) is connected with the middle body module (5).

9. The six-legged three-section wall-climbing robot for detecting a steel gate according to claim 1, characterized in that: The end body module (4) is provided with connecting seats (401) on both sides, the end body module (4) is provided with two mounting seats (402) at one end, the middle body module (5) is provided with second connecting seats (501) on both sides, the middle body module (5) is provided with second mounting seats (502) at both ends, and the second mounting seats (502) and the mounting seats (402) are connected with the turnover module; The detection and positioning module (12) comprises a depth camera (1202) and a detection camera (1204), the depth camera (1202) is provided with a support (1201), the detection camera (1204) is provided with a bottom support (1205), the bottom support (1205) is provided with a rotary rudder (1203), the output shaft of the rotary rudder (1203) is connected with the detection camera (1204), and the bottom support (1205) and the support (1201) are all mounted on the end body module (4).

10. A method for a six-legged, three-section wall-climbing robot to traverse a truss for detecting steel gates, as described in any one of claims 1 to 9, characterized in that: S1, obstacle identification: the robot detects the distance of the front obstacle in real time through the depth camera (1202), and transmits the information to the upper computer; when approaching the obstacle, the robot gradually adjusts the distance from the obstacle; S2, front segment lifting: the power supply of the electromagnetic chuck (11) of the first supporting leg (1) is disconnected, the first turnover module (6) works, the front end body module (4) is turned over relative to the middle body module (5), and the first supporting leg (1) is perpendicular to the truss; S3, front segment adsorption: the second joint (9) and the third joint (10) of the first supporting leg (1) are driven to make the electromagnetic chuck (11) of the first supporting leg (1) close to the truss, and the electromagnetic chuck (11) is powered on; S4, middle segment transition: the electromagnetic chuck (11) of the first supporting leg (1) is powered off again, the first joint (8) of the first supporting leg (1) is controlled, so that the electromagnetic chuck (11) is powered on again after the first supporting leg (1) climbs and moves a certain distance on the truss; S5, the second supporting leg (2) is powered off, the first turnover module (6) and the second turnover module (7) are driven to adjust the rotation angle of the middle body module (5), so that the middle body module (5) is turned over and lifted until the second supporting leg (2) is perpendicular to the truss; S6, middle segment adsorption: the second supporting leg (2) is driven to make the second supporting leg (2) adhere to the truss wall, and then the electromagnetic chuck (11) of the second supporting leg (2) is powered on and adsorbed; S7, two segment displacement: after the first supporting leg (1) and the second supporting leg (2) are powered off, the first joint (8) of the first supporting leg (1) and the second supporting leg (2) is driven to make the front end body module (4) and the middle body module (5) climb and displace, and then the first supporting leg (1) and the second supporting leg (2) are powered on and adsorbed; S8, rear segment over: after the third supporting leg (3) is powered off, the second turnover module (7) is driven to lift the tail end body module (4), until the third supporting leg (3) is perpendicular to the truss, the third supporting leg (3) is driven to make the third supporting leg (3) adhere to the truss wall and then be powered on and adsorbed, and the over is completed.

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