Intelligent walking robot capable of automatically walking across cabin rib plate

Abstract

The invention relates to the technical field of intelligent shipbuilding, in particular to an intelligent walking robot capable of automatically striding over a cabin rib plate to walk, which comprises a main body unit, a striding unit, a walking unit, a fixing mechanism, a supporting mechanism and a sensing control unit, through the collaborative design of integrating the striding unit and the walking unit, matching with the telescopic supporting structure and the buffering assembly and combining with real-time monitoring of the sensing control unit on the posture and stress, the toppling problem caused by unstable gravity center of single-leg supporting and ship body shaking can be avoided, the operation stability of the robot is enhanced, and the working efficiency of the robot is improved. And through closed-loop regulation and control of the adjusting mechanism and the sensing control unit, the damping strength can be adjusted in a self-adaptive mode according to the shaking amplitude of the ship body, shaking impact is efficiently absorbed, vibration is prevented from being transmitted to the operation tail end, the precision of maintenance operation is guaranteed, and the adaptability and use stability of the robot in the complex cabin environment are further improved.

Description

Technical Field

[0001] This invention relates to the field of intelligent shipbuilding technology, specifically to an intelligent walking robot that can automatically walk across the stiffening plates of a ship's cabin. Background Technology

[0002] With the rapid development of intelligent shipbuilding technology, automated and intelligent equipment is being used more and more widely in the fields of shipbuilding and maintenance. Robots, with their advantages of high efficiency, precision and safety, are gradually replacing manual labor in completing complex tasks such as welding, inspection and grinding inside the ship's cabin. This has greatly reduced the labor intensity and safety risks of manual labor in the confined and cramped cabin environment, and has become the core equipment for improving shipbuilding efficiency and maintenance quality. In ship structures, the interior of the cabin is usually equipped with a large number of stiffeners to enhance the strength of the hull. These stiffeners are densely distributed and vary in height, forming a complex obstacle environment. At the same time, ships are often floating on the water during maintenance operations. Affected by water flow and wave movement, the cabin will experience continuous and irregular swaying, which further increases the difficulty of robot operations. When facing stiffener obstacles, the robot may experience instability in the single-leg support phase, which can easily lead to tipping over due to hull swaying. In addition, during maintenance operations, the hull swaying can also be transmitted to the end of the operation, affecting the accuracy of maintenance operations and the robot's adaptability and stability in the complex cabin environment. In view of this, we propose an intelligent walking robot that can automatically walk over the stiffening plates of a ship's cabin. Summary of the Invention

[0003] To address the aforementioned shortcomings of existing technologies, this invention provides an intelligent walking robot that automatically traverses ship cabin stiffeners. This effectively solves the problems of insufficient adaptability and stability of existing ship cabin operation robots in environments with dense stiffener obstacles of varying heights. These robots are prone to tipping over due to unstable center of gravity when supported by a single leg and irregular swaying of the ship's hull. This also affects the accuracy of maintenance operations.

[0004] To achieve the above objectives, the present invention provides the following technical solution: This invention provides an intelligent walking robot that automatically walks across the stiffening plates of a ship's cabin, comprising a main body unit including an upper limb, and a control unit disposed on the upper limb, including... The stepping unit includes a drive mechanism mounted on the control unit and a support mechanism mounted on the drive mechanism; The walking unit includes a second support mechanism mounted on the drive mechanism, a fixing mechanism mounted on the second support mechanism, an adjustment mechanism mounted on the fixing mechanism for absorbing swaying, and a third support mechanism mounted on the second support mechanism. The fixing mechanism and the third support mechanism are used to expand the robot's support area. The sensing control unit includes a sensing detection module for real-time detection of robot posture and hull sway amplitude and frequency, a master control decision module for receiving data from the sensing detection module to generate control commands, and a drive adjustment module for receiving commands from the master control decision module and driving each mechanism to perform actions.

[0005] Furthermore, the drive mechanism includes a fixed shaft disposed on the control unit, a support arm fixedly connected to the end of the fixed shaft away from the control unit, and a housing fixedly connected to the bottom of the support arm.

[0006] Furthermore, the support mechanism includes a telescopic rod fixedly connected to the bottom of the support arm, and a spring is provided on the telescopic rod, with the two ends of the spring fixedly connected to the fixed end and the movable end of the telescopic rod, respectively.

[0007] Furthermore, the second support mechanism includes a lower leg disposed on the housing, and a pedal is provided at the bottom of the lower leg, with multiple sets of strip grooves formed at the bottom of the pedal.

[0008] Furthermore, the fixing mechanism includes an electric push rod rotatably connected to the inner wall of the pedal, a fixed seat rotatably connected to the telescopic end of the electric push rod, a vacuum suction cup fixedly connected to the bottom of the fixed seat, and a vacuum pump fixedly connected to the top of the vacuum suction cup.

[0009] Furthermore, the adjustment mechanism includes an oil storage tank fixedly connected to the lower leg, a suction pump fixedly connected to the bottom of the oil storage tank, and two sets of oil delivery pipes fixedly connected to the bottom of the suction pump via a three-way connector.

[0010] Furthermore, a damping rod is fixedly connected to the end of the oil pipeline away from the tee joint. One end of the damping rod is rotatably connected to the lower leg, and the other end of the damping rod is rotatably connected to the top of the fixed base.

[0011] Furthermore, the support mechanism three includes an electric push rod two rotatably connected to the lower leg, an electric push rod three rotatably connected to the fixed end surface of the electric push rod two, and the end of the electric push rod three away from the electric push rod two is fixedly connected to the lower leg.

[0012] Furthermore, the electric push rod has a fixed head fixedly connected to its two telescopic ends, a universal arm sleeved on the inner wall of the fixed head, and a rubber ball fixedly connected to the end of the universal arm away from the fixed head. Multiple sets of arc-shaped grooves are formed on the surface of the rubber ball.

[0013] Furthermore, the sensing and detection module includes a gyroscope and a three-axis accelerometer located at the center of gravity of the main unit, as well as sensors located at the ends of the second and third support mechanisms and the adjustment mechanism; The main control decision module is integrated into the control unit and is used to process sensor data and generate control commands; The drive adjustment module is electrically connected to the adjustment mechanism, the fixing mechanism, and the support mechanism, and is used to execute the main control commands.

[0014] The technical solution provided by this invention has the following advantages compared with known public technologies: This invention, through the integrated design of the crossing and walking units, combined with a retractable support structure and buffer components, enables smooth crossing of the densely packed stiffeners in the ship's cabin, preventing rigid collisions with the stiffeners during the crossing process. Furthermore, in single-leg support crossing and maintenance operation scenarios, it rapidly expands the support area and forms a firm fixation. Combined with real-time monitoring of posture and force by the sensor control unit, it avoids tipping problems caused by unstable center of gravity due to single-leg support and ship swaying, enhancing the robot's operational stability. Moreover, through closed-loop control of the adjustment mechanism and sensor control unit, it can adaptively adjust the damping force according to the amplitude of ship swaying, efficiently absorbing swaying impacts and preventing vibration from being transmitted to the end of the operation, ensuring the accuracy of maintenance operations and further improving the robot's adaptability and operational stability in the complex environment of the ship's cabin. Attached Figure Description

[0015] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are merely some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without any creative effort.

[0016] Figure 1 This is a schematic diagram of the overall structure of the present invention; Figure 2 This is a schematic diagram of the stepping and walking units of the present invention; Figure 3 This is a schematic diagram of the step-through unit structure of the present invention; Figure 4 This is a schematic diagram of the second support mechanism of the present invention; Figure 5 This is a schematic diagram of the walking unit structure of the present invention; Figure 6 This is a schematic diagram of the fixing mechanism and adjusting mechanism of the present invention; Figure 7 This is a schematic diagram of the three-structure support mechanism of the present invention.

[0017] The labels in the diagram represent: 100, main body unit; 101, upper limb; 102, control unit; 200. Stepping unit; 201. Drive mechanism; 2011. Fixed shaft; 2012. Support arm; 2013. Housing; 202. Support mechanism one; 2021. Telescopic rod; 2022. Spring; 300. Walking unit; 301. Support mechanism two; 3011. Lower leg; 3012. Pedal; 3013. Strip groove; 302. Fixing mechanism; 3021. Vacuum suction cup; 3022. Electric push rod one; 3023. Fixing base; 3024. Vacuum pump; 303. Adjustment mechanism; 3031. Oil storage tank; 3032. Suction pump; 3033. T-connector; 3034. Oil delivery pipe; 3035. Damping rod; 304. Support mechanism three; 3041. Electric push rod two; 3042. Rubber ball; 3043. Fixing head; 3044. Electric push rod three; 3045. Universal arm; 3046. Arc groove. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0019] The present invention will be further described below with reference to embodiments.

[0020] like Figures 1 to 7 As shown, an intelligent walking robot that automatically walks across the stiffening ribs of a ship's cabin includes a main body unit 100, including an upper limb 101 and a control unit 102 disposed on the upper limb 101. It also includes a crossing unit 200, including a drive mechanism 201 disposed on the control unit 102 and a support mechanism 202 disposed on the drive mechanism 201; and a walking unit 300, including a second support mechanism 301 disposed on the drive mechanism 201, a fixing mechanism 302 disposed on the second support mechanism 301, an adjustment mechanism 303 disposed on the fixing mechanism 302 for absorbing swaying, and a support mechanism disposed on the second support mechanism 301. The fixed mechanism 302 and the support mechanism 304 are used to expand the robot's support area. The sensor control unit includes a sensor detection module for real-time detection of the robot's posture and the amplitude and frequency of the hull sway, a main control decision module for receiving data from the sensor detection module to generate control commands, and a drive adjustment module for receiving commands from the main control decision module and driving each mechanism to perform actions. The main body unit 100 is the core load-bearing foundation of the robot. The upper limb 101 is made of high-strength aluminum alloy. The control unit 102 is fixedly installed on the abdomen with bolts. The control unit 102 has a reserved installation chamber for integrating the sensor control unit and various circuit modules. Specifically, refer to Figure 2 and Figure 3The drive mechanism 201 includes a fixed shaft 2011 mounted on the control unit 102. A support arm 2012 is fixedly connected to the end of the fixed shaft 2011 away from the control unit 102. A housing 2013 is fixedly connected to the bottom of the support arm 2012. The support mechanism 202 includes a telescopic rod 2021 fixedly connected to the bottom of the support arm 2012. A spring 2022 is mounted on the telescopic rod 2021, with its two ends fixedly connected to the fixed end and the movable end of the telescopic rod 2021, respectively. One end of the fixed shaft 2011 is fixedly connected to the output interface of the control unit 102 via a key, and the other end is welded to the support arm 2012. The support arm 2012 has an L-shaped structure, and its bottom is fastened to the housing 2013 via bolts. The housing 2013 integrates a servo motor and reducer to provide power for the support mechanism 202. The telescopic rod 2021 of the support mechanism 202 adopts a multi-stage telescopic structure. The spring 2022 is a stainless steel compression spring. The spring 2022 is sleeved on the outside of the telescopic rod 2021, and its two ends are fixed to the fixed end and the movable end of the telescopic rod 2021 by snap rings. During operation, the spring 2022 can buffer the impact force during the extension and retraction of the telescopic rod 2021 to avoid rigid collision. With the power output of the drive mechanism 201, the support mechanism 202 can rotate and lift smoothly, so as to lift the components in the walking unit 300, thereby meeting the crossing requirements of the cabin stiffeners at different heights. Specifically, refer to Figure 2 , Figures 4 to 6 The second support mechanism 301 includes a lower leg 3011 mounted on the housing 2013. A pedal 3012 is located at the bottom of the lower leg 3011, and multiple sets of strip grooves 3013 are formed at the bottom of the pedal 3012. The fixing mechanism 302 includes an electric push rod 3022 rotatably connected to the inner wall of the pedal 3012. A fixed base 3023 is rotatably connected to the telescopic end of the electric push rod 3022. A vacuum suction cup 3021 is fixedly connected to the bottom of the fixed base 3023, and a vacuum pump 3024 is fixedly connected to the top of the vacuum suction cup 3021. The lower leg 3011 is also made of steel, and its bottom is connected to the pedal via a pin. The plate 3012 is hinged, and the multiple sets of strip grooves 3013 at the bottom of the pedal 3012 can enhance the friction between the pedal 3012 and the surface of the cabin and prevent slippage. The electric push rod 3022 is model ANT-26. The cylinder is rotatably connected to the inner wall of the pedal 3012 through a rotating shaft. The telescopic end is connected to the fixed seat 3023 through a ball joint. The fixed seat 3023 has a disc-shaped structure. The bottom is fixed to the vacuum suction cup 3021 through a threaded connection. The vacuum suction cup 3021 is made of nitrile rubber. The top is connected to the vacuum pump 3024 through an air pipe. The vacuum pump 3024 is model VP120. It should be noted that during operation, the extension and retraction of the electric push rod 3022 can extend the vacuum suction cup 3021 and place it on the surface of the cabin, so that the vacuum suction cup 3021 is in contact with the surface of the cabin. After the vacuum pump 3024 is started, the air in the suction cup is extracted to form a negative pressure, thereby achieving a firm fixation of the pedal 3012 to the surface of the cabin. Specifically, refer to Figure 2 , Figures 5 to 7 The adjusting mechanism 303 includes an oil storage tank 3031 fixedly connected to the lower leg 3011. A suction pump 3032 is fixedly connected to the bottom of the oil storage tank 3031. Two sets of oil delivery pipes 3034 are fixedly connected to the bottom of the suction pump 3032 through a three-way connector 3033. A damping rod 3035 is fixedly connected to the end of the oil delivery pipe 3034 away from the three-way connector 3033. One end of the damping rod 3035 is rotatably connected to the lower leg 3011, and the other end of the damping rod 3035 is rotatably connected to the top of the fixed base 3023. The supporting mechanism 304 includes an electric push rod 3041 rotatably connected to the lower leg 3011. Electric push rod 2 (3041) is rotatably connected to the fixed end of electric push rod 3044. The end of electric push rod 3044 away from electric push rod 2 (3041) is fixedly connected to the lower leg 3011. A fixed head 3043 is fixedly connected to the telescopic end of electric push rod 2 (3041). A universal arm 3045 is sleeved on the inner wall of the fixed head 3043. A rubber ball 3042 is fixedly connected to the end of the universal arm 3045 away from the fixed head 3043. Multiple sets of arc-shaped grooves 3046 are formed on the surface of the rubber ball 3042. The oil storage tank 3031 is made of stainless steel and is fixedly installed on the rear side of the lower leg 3011. The bottom is connected to a suction pump 3032 via a flange. The suction pump 3032 is a miniature gear pump. The bottom tee connector 3033 is made of copper and is threaded to two sets of oil supply pipes 3034. The oil supply pipes 3034 are high-pressure rubber hoses. The end of the oil supply pipe 3034 away from the tee connector 3033 is connected to a damping rod 3035. The damping rod 3035 is a two-way hydraulic damping rod. One end is rotatably connected to the middle of the lower leg 3011 via a hinge seat, and the other end is also connected to the top of the fixed base 3023 via a hinge seat. The electric push rod 3041 of the support mechanism 304 is of model number [missing information]. ANT-35, the cylinder body is rotatably connected to the lower leg 3011 via a rotating shaft. The two ends of the electric push rod 3044 are respectively hinged to the fixed end of the electric push rod 2 3041 and the lower leg 3011 to form a triangular support structure, which is used to adjust the electric push rod 2 3041 to extend or retract. The telescopic end of the electric push rod 2 3041 is threadedly connected to the fixed head 3043. The universal arm 3045 adopts a ball joint connecting rod structure, one end of which is interference-fitted with the fixed head 3043, and the other end is bonded and fixed to the rubber ball 3042. The multiple sets of arc grooves 3046 opened on the surface of the rubber ball 3042 can enhance the fit with the contact surface. It should be noted that during operation, the suction pump 3032 delivers hydraulic oil to the damping rod 3035 through the oil supply pipe 3034, and adjusts the damping force of the damping rod 3035. In conjunction with the fixing mechanism 302, it can absorb the impact generated by the hull swaying, further improving the stability of the robot during walking and working. The extension and retraction of the electric push rod 3044 causes the electric push rod 2 3041 to unfold. The extension and retraction of the electric push rod 2 3041 pushes the rubber ball 3042 to contact the surface of the cabin, forming auxiliary support, which can further improve the stability of the robot. Specifically, refer to Figures 1 to 7 The sensing and detection module includes a gyroscope and a three-axis accelerometer located at the center of gravity of the main unit 100, as well as sensors located at the ends of support mechanisms 2 301 and 304 and within the adjustment mechanism 303. The main control decision module is integrated into the control unit 102, used to process sensor data and generate control commands. The drive adjustment module is electrically connected to the adjustment mechanism 303, the fixing mechanism 302, and the support mechanism 304, used to execute the main control commands. The sensing and detection module includes a gyroscope, a three-axis accelerometer, a pressure sensor, and built-in sensors within the adjustment mechanism 303. The gyroscope and three-axis accelerometer are integrated modules, model MPU6050, fixedly installed at the center of gravity of the main unit 100, used to collect the robot's tilt angle, angular velocity, and hull sway amplitude and frequency in real time. The pressure sensor is an array structure, model FSR402, respectively embedded in the bottom of the pedal 3012 of support mechanism 2 301 and Inside the rubber ball 3042 of the support mechanism 304, the contact pressure and force distribution of each support point are detected. The main control decision module uses an STM32F407 main control chip, which is electrically connected to the sensing and detection module through a circuit board. It performs filtering, noise reduction, and standardization processing on the collected raw data, identifies the current working condition and instability risk according to a preset algorithm, and generates targeted control commands. The drive adjustment module is integrated with the main control decision module on the same circuit board. The drive adjustment component connected to the adjustment mechanism 303 is used to control the start and stop of the suction pump 3032 and the oil delivery volume. The drive adjustment component connected to the fixed mechanism 302 is used to adjust the vacuum degree of the vacuum pump 3024. The drive adjustment component connected to the support mechanism 304 is used to control the extension and retraction of the electric push rod 2 3041 and electric push rod 3 3044. The adaptive adjustment of each mechanism is realized through command execution, ensuring the stable operation of the robot when crossing stiffeners and the swaying environment of the ship's hull.

[0021] The working principle of this invention is as follows: After the robot is started, the sensor control unit immediately enters the working state, and the MPU6050 integrated module at the center of gravity of the main unit 100 collects the robot's posture data and the hull sway parameters in real time. The FSR402 array pressure sensors embedded in the bottom of the pedal 3012 of the second support mechanism 301 and the rubber ball 3042 of the third support mechanism 304 synchronously detect the contact pressure and force distribution of each support point. The linear displacement sensor and damping force sensor built into the adjustment mechanism 303 provide real-time feedback on the extension stroke and current damping force of the damping rod 3035. After these raw data are transmitted to the STM32F407 main control chip in the control unit 102, they are filtered, reduced in noise and standardized by the preprocessing unit. Then, the robot's precise posture and current working condition are calculated by the multi-sensor data fusion algorithm. Finally, the control command generation unit outputs targeted control signals, which drive the action of each actuator through the drive adjustment module. When the robot walks on a flat surface and does not need to work, the system determines it to be in normal walking mode. At this time, the fixed mechanism 302 and the support mechanism 304 are both in the retracted state, and the robot moves only by relying on the core structure of the stepping unit 200 and the walking unit 300. The servo motor inside the housing 2013 of the drive mechanism 201 outputs power through a reducer, driving the lower leg 3011 of the support mechanism 2 301 to perform small-amplitude flexion and extension movements. The lower leg 3011 outputs power through the corresponding servo motor and reducer inside, driving the pedal 3012 to move synchronously and complete walking. When the pedal 3012 contacts the cabin surface, the strip groove 3013 at the bottom increases the friction with the cabin surface to prevent slipping during walking. During this process, the sensor control unit continuously monitors the attitude and sway data. If a slight sway is detected, the main control chip adjusts the speed of the servo motor of the drive mechanism 201 to compensate for the displacement deviation caused by the sway, ensuring accurate walking trajectory. When the robot detects a cabin stiffener in front of it through the visual recognition module, the system automatically switches to stiffener crossing mode, and only activates the fixing mechanism 302 and the support mechanism 304 during the single-leg support phase to ensure the stability of the center of gravity. The main control chip first plans the crossing path. The fixed axis 2011 of the drive mechanism 201 drives the support arm 2012 to rotate, adjusting the orientation and height of the support mechanism 1 202. Then, the support mechanism 2 301 of the walking unit 300 remains in contact with the cabin surface, becoming the only support point. The robot enters a single-leg support state. At this time, the pressure sensor monitors the support pressure of the pedal 3012 in real time, and the gyroscope and three-axis accelerometer continuously capture the center of gravity offset data. If the center of gravity offset exceeds the safety threshold, the stabilization mechanism is immediately triggered. After the stabilization mechanism is activated, the electric push rod 3022 of the fixing mechanism 302 extends and retracts rapidly, pushing the fixing seat 3023 to drive the vacuum suction cup 3021 to adhere to the cabin surface. The main control chip simultaneously starts the vacuum pump 3024 to extract the air in the vacuum suction cup 3021 to form a negative pressure, so as to achieve a firm adsorption between the support mechanism 301 and the cabin surface and prevent side slippage. At the same time, the electric push rod 3044 of the support mechanism 304 extends and adjusts the extension of the electric push rod 2 3041. The electric push rod 2 3041 extends to make the rubber ball 3042 contact the cabin surface. Through the adaptive swing of the universal arm 3045, the arc groove 3046 on the surface of the rubber ball 3042 fits tightly against the cabin surface, forming a triangular support structure with the support mechanism 2 301, greatly expanding the support area and firmly locking the center of gravity within the support domain. After stable locking, the servo motor of the drive mechanism 201 outputs more power, and the torque is amplified through the reducer to drive the telescopic rod 2021 of the support mechanism 202 to extend in multiple stages. The spring 2022 sleeved on the outside of the telescopic rod 2021 buffers the rigid impact during the extension and retraction process to avoid collision with the edge of the stiffener plate. The arc-shaped guide head at the end of the telescopic rod 2021 slides against the edge of the stiffener plate to ensure a smooth crossing to the other side of the deck. During this process, the adjustment mechanism 303 dynamically adjusts the damping force according to the hull sway amplitude fed back by the sensor control unit. When the sway amplitude is ≤5cm, the main control chip controls the suction pump 3032 to output low flow hydraulic oil, and the damping rod 3035 maintains a low damping state, taking into account both flexibility and buffering effect. When the sway amplitude is >5cm, the suction pump 3032 increases the hydraulic oil output, and the damping rod 3035 increases the damping coefficient accordingly, limiting the excessive swing of the support mechanism 301 and converting the sway kinetic energy into the heat energy of the hydraulic oil for dissipation. After support mechanism 1 202 crosses the stiffener plate, telescopic rod 2021 slowly retracts, spring 2022 returns to its original position, and the end contacts the cabin surface to form double support. After the pressure sensor detects that the support pressure reaches the standard, it feeds back to the main control chip, which then controls the electric push rod 2 3041 and electric push rod 3044 of support mechanism 3 304 to retract and return to their original positions. Rubber ball 3042 detaches from the cabin surface, vacuum pump 3024 stops working, vacuum suction cup 3021 depressurizes, electric push rod 1 3022 drives fixed seat 3023 to return to its original position, and fixed mechanism 302 and support mechanism 3 304 return to their retracted state. The robot switches back to the normal walking mode and completes one stiffener plate crossing. When the robot reaches the maintenance work position and stops moving, the system automatically switches to the maintenance work stable mode. The fixing mechanism 302 and the support mechanism 304 continue to work, and the adjustment mechanism 303 dynamically adapts the damping force according to the hull sway amplitude. After the robot stops moving, the main control chip immediately triggers the stabilization command. The electric push rod 3022 of the fixing mechanism 302 extends and retracts to push the vacuum suction cup 3021 to fit against the cabin surface, and the vacuum pump 3024 starts to form negative pressure fixation. Meanwhile, the electric push rod 3044 of the support mechanism 304 drives the electric push rod 2041 to unfold. The electric push rod 2041 extends to make the rubber ball 3042 contact the cabin surface. Through the adaptive adjustment of the universal arm 3045, it is ensured that the rubber ball 3042 is in close contact with the cabin surface, forming a multi-point stable support, completely locking the robot position, and avoiding displacement and shaking during operation. During robot operation, the sensor control unit continuously monitors the hull sway data. If the gyroscope and three-axis accelerometer detect a change in the sway amplitude, for example, when the sway amplitude is ≤3cm, the main control chip controls the suction pump 3032 to output the minimum flow of hydraulic oil, and the damping rod 3035 can maintain the damping coefficient at 0.3N・s / mm, only buffering slight vibrations without affecting the flexibility of maintenance operations. When 3cm < sway amplitude ≤ 8cm, the suction pump 3032 increases the hydraulic oil output, and the damping rod 3035 is adjusted to 0.8N・s / mm to enhance the buffering effect, offset most of the sway impact, and ensure the accuracy of maintenance actions. When the sway amplitude is >8cm, the suction pump 3032 outputs hydraulic oil at the maximum flow rate, and the damping rod 3035 is increased to 1.5N・s / mm to limit the swing amplitude of the support mechanism 301. At the same time, the pressure sensor monitors the force on each support point in real time. If the force on a certain point is insufficient, the main control chip adjusts the extension and retraction of the corresponding electric push rod to supplement the support force and prevent the robot from tilting. After the maintenance work is completed, the operator issues a movement command. The main control chip controls the vacuum pump 3024 to depressurize, the vacuum suction cup 3021 detaches from the cabin surface, the electric push rod 1 3022 retracts and resets, the electric push rod 2 3041 and electric push rod 3 3044 of the support mechanism 3 304 retract, the rubber ball 3042 retracts, and the robot switches back to the normal walking mode, ready to perform the next work task or move to another location.

[0022] The above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions will not cause the essence of the corresponding technical solutions to deviate from the protection scope of the technical solutions of the embodiments of the present invention.

Claims

1. An intelligent walking robot that automatically walks over a cabin floor beam, comprising a main body unit (100) including an upper limb portion (101), and a control portion (102) provided on the upper limb portion (101), characterized in that, The utility model relates to a robot for ship hull maintenance, comprising a control unit (102), a driving mechanism (201) arranged on the control unit (102), a support mechanism I (202) arranged on the driving mechanism (201), a walking unit (300) comprising a support mechanism II (301) arranged on the driving mechanism (201), a fixing mechanism (302) arranged on the support mechanism II (301), an adjusting mechanism (303) arranged on the fixing mechanism (302) for absorbing sway, and a support mechanism III (304) arranged on the support mechanism II (301), the fixing mechanism (302) and the support mechanism III (304) being used for expanding the support area of the robot, and a sensing control unit comprising a sensing detection module for detecting the posture of the robot and the amplitude and frequency of the sway of the ship hull in real time, a master control decision module for receiving the data of the sensing detection module to generate control instructions, and a driving adjusting module for receiving the instructions of the master control decision module and driving each mechanism to perform actions. The driving mechanism (201) comprises a fixed shaft (2011) arranged on the control unit (102), the fixed shaft (2011) being fixedly connected with a support arm (2012) at an end away from the control unit (102), and the support arm (2012) being fixedly connected with a shell (2013) at the bottom. The support mechanism I (202) comprises an extension rod (2021) fixedly connected with the support arm (2012) at the bottom, a spring (2022) arranged on the extension rod (2021), and the spring (2022) being fixedly connected with the fixed end and the movable end of the extension rod (2021) at both ends. The support mechanism II (301) comprises a lower leg part (3011) arranged on the shell (2013), the lower leg part (3011) being provided with a pedal (3012) at the bottom, and a plurality of strip-shaped grooves (3013) being formed in the pedal (3012).

2. The intelligent walking robot of claim 1, wherein, The fixing mechanism (302) comprises an electric push rod I (3022) rotatably connected with the inner wall of the pedal (3012), the extension end of the electric push rod I (3022) being rotatably connected with a fixing seat (3023), the fixing seat (3023) being fixedly connected with a vacuum chuck (3021) at the bottom, and the vacuum chuck (3021) being fixedly connected with a vacuum pump (3024) at the top.

3. The intelligent walking robot of claim 1, wherein, The adjusting mechanism (303) comprises an oil storage tank (3031) fixedly connected with the lower leg part (3011), the oil storage tank (3031) being fixedly connected with a suction pump (3032) at the bottom, and the suction pump (3032) being fixedly connected with two groups of oil delivery pipes (3034) through a tee joint (3033) at the bottom.

4. The intelligent walking robot of claim 1, wherein, The oil delivery pipe (3034) is fixedly connected with a damping rod (3035) at an end away from the tee joint (3033), the damping rod (3035) being rotatably connected with the lower leg part (3011) at one end and rotatably connected with the fixing seat (3023) at the other end.

5. The intelligent walking robot of claim 1, wherein, ​ 6. The intelligent walking robot of claim 1, wherein, ​ 7. The intelligent walking robot of claim 6, wherein, ​ 8. The intelligent walking robot of claim 1, wherein, The support mechanism three (304) includes a motor-driven push rod two (3041) rotationally connected on the lower leg part (3011), a motor-driven push rod three (3044) rotationally connected on the fixed end surface of the motor-driven push rod two (3041), and the motor-driven push rod three (3044) fixedly connected on the lower leg part (3011) away from the motor-driven push rod two (3041).

9. The intelligent walking robot of claim 8, wherein, The motor-driven push rod two (3041) is fixedly connected with a fixed head (3043) at the telescopic end, the fixed head (3043) is sleeved with a universal arm (3045) on the inner wall, the universal arm (3045) is fixedly connected with a rubber ball (3042) away from the fixed head (3043) at one end, and a plurality of arc-shaped grooves (3046) are formed on the surface of the rubber ball (3042).

10. The intelligent walking robot of claim 1, wherein, The sensing and detecting module includes a gyroscope arranged at the gravity center of the main body unit (100), a three-axis accelerometer, and sensors arranged in the support mechanism two (301), the support mechanism three (304) and the adjusting mechanism (303); The main control and decision module is integrated in the control unit (102) and is used for processing sensing data and generating control instructions; The driving and adjusting module is electrically connected with the adjusting mechanism (303), the fixing mechanism (302) and the support mechanism three (304) and is used for executing the main control instructions.

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