CN114620155A

CN114620155A - Steel gate panel components of a whole that can function independently robot of crawling

Info

Publication number: CN114620155A
Application number: CN202210341666.8A
Authority: CN
Inventors: 段震华; 钱亨; 张三霞
Original assignee: Zhejiang University of Water Resources and Electric Power
Current assignee: Zhejiang University of Water Resources and Electric Power
Priority date: 2022-04-02
Filing date: 2022-04-02
Publication date: 2022-06-14
Anticipated expiration: 2042-04-02
Also published as: CN114620155B

Abstract

The invention relates to a split crawling robot for a steel gate panel, and solves the problem that the existing wall crawling robot cannot meet the obstacle crossing requirement of a complex beam body surface of the steel gate panel. The front vehicle body and the rear vehicle body of the device are connected through a front hinge, a damping hinge and a rear hinge in sequence; the front vehicle body comprises a transversely arranged front connecting bridge, two ends of the front connecting bridge are respectively connected with a front crawler belt group through a pitching adjusting and swinging mechanism, the front crawler belt uses a permanent magnet crawler belt, and the rear vehicle body is consistent with the front vehicle body in structure; distance sensors which are arranged downwards are respectively arranged on the outer sides of the two ends of the front crawler group and the rear crawler group, a torque sensor is respectively arranged on each pitching adjusting and swinging mechanism, a front electromagnet is arranged on the bottom surface of the front connecting bridge, and a rear electromagnet is arranged on the bottom surface of the rear connecting bridge. The invention controls the on-off of the electromagnet according to the distance signal collected by the sensor, and compensates the adsorption force, so that the robot can cross various obstacles such as convex ribs, square beams, T-shaped beams and the like when working on the beam body surface of the steel gate panel.

Description

Steel gate panel components of a whole that can function independently robot of crawling

Technical Field

The invention belongs to the field of hydraulic equipment, relates to a crawling robot, and relates to a steel gate panel split crawling robot.

Background

The steel gate is water retaining and water stopping equipment commonly used in water supply and drainage engineering, water conservancy and hydropower engineering, and has various structures. The water retaining panel is a main working part, the two sides of the water retaining panel are respectively a smooth surface and a beam body surface, and in daily maintenance, a large amount of labor and cost are consumed for detection, cleaning, rust removal and the like of the panel, the beam body and the like. In modern times, more and more crawling robots are gradually applied to cleaning and maintenance operations of the surfaces of ships, tanks and the like as mobile carriers, but the crawling robots mainly adopt a single structure, have more problems in the aspects of adaptability to crawling of complex wall surfaces, obstacle crossing capability and the like, and are difficult to be well applied to steel gate panels.

Chinese patent CN113844564A published in 2021, 12, month and 28, entitled magnetic adsorption wall-climbing robot suitable for multiple vertical surfaces, adopts front and rear main beams as supporting frames, and the crawler running mechanism is located on both sides of the supporting frames and has two mutually perpendicular rotational degrees of freedom, and the front end of the supporting frame is provided with a wall surface transition magnetic wheel device, which can crawl on a variable curvature magnetic conductive wall surface, and can realize the function of converting between inner and outer wall surfaces with different right angles. This robot receives mechanical structure to influence, when following the skew wall of becoming camber and crawling, two front and back main part roof beams can't turn round and make track contact with the wall area reduce, and wall adaptability can reduce, has great obstacle like roof beam body structure etc. to the wall simultaneously, can't realize crawling completely and climb over, consequently under the special structural condition of gate panel, unable fine being suitable for.

Disclosure of Invention

The invention aims to provide a split crawling robot for a steel gate panel, which is suitable for crawling, obstacle crossing, beam body turning and the like of steel gate panels in different structural forms and can improve the application effect of intelligent equipment on maintenance operation of a hydraulic gate by carrying corresponding operating equipment, aiming at the problems that the structure of the steel gate panel is complex, particularly the obstacle crossing requirement exists on the beam body structure of the beam body of the steel gate panel and the existing crawling robot cannot be suitable for use.

The invention adopts a technical scheme for solving the technical problems that: a steel gate panel split crawling robot comprises a front vehicle body and a rear vehicle body, wherein the front vehicle body and the rear vehicle body are connected through a front hinge, a damping hinge and a rear hinge in sequence; the front vehicle body comprises a transversely arranged front connecting bridge, and two ends of the front connecting bridge are respectively connected with a front crawler belt group through a pitching adjusting and swinging mechanism; the rear vehicle body comprises a transversely arranged rear connecting bridge, and two ends of the rear connecting bridge are respectively connected with a rear crawler belt group through a pitching adjusting and swinging mechanism; the front crawler belt group and the rear crawler belt group both use permanent magnet crawler belts; distance sensors which are arranged downwards are respectively arranged on the outer sides of the two ends of the front crawler group and the rear crawler group, a torque sensor is respectively arranged on each pitching adjusting and swinging mechanism, a front electromagnet is arranged at the center of the bottom surface of the front connecting bridge, and a rear electromagnet is arranged at the center of the bottom surface of the rear connecting bridge.

When the device is used, the permanent magnet crawler belts of the front crawler belt group and the rear crawler belt group provide plane advancing adsorption force. When the plane panel and the cambered surface panel crawl, the device can keep perfect fit only by longitudinal bending and transverse twisting of the front hinge, the damping hinge and the rear hinge. The front and rear electromagnets are not activated in a normal state to save electric power and simultaneously reduce the traveling resistance. When the robot is in an obstacle crossing state, the joint information of the track strip and the steel gate panel during obstacle crossing is acquired in time through eight distance sensors and four torque sensors of the front vehicle body and the rear vehicle body in total, the on-off of the front electromagnet and the rear electromagnet is controlled according to the sensor information, the adsorption force is compensated by starting when necessary, so that the robot can climb over various convex ribs, square beams, T-shaped beams and the like when the beam body surface of the steel gate panel works, and the vehicle body is prevented from falling off during the obstacle crossing process.

Preferably, a front driving wheel is arranged at the front end of the front crawler group, a front driven wheel is arranged at the rear end of the front crawler group, a front driving motor is connected to the inner side of the front driving wheel, a crawler belt is sleeved between the front driving wheel and the front driven wheel, baffles are respectively arranged on the left side and the right side of the front crawler group, a front driving wheel and a front driven wheel are arranged between the two baffles in a shaft erecting mode, and the distance sensor is fixed on the baffle arranged close to the outer side; the rear end of the rear crawler group is provided with a rear driving wheel, the front end of the rear crawler group is provided with a rear driven wheel, the inner side of the rear driving wheel is connected with a rear driving motor, a crawler belt is sleeved between the rear driving wheel and the rear driven wheel, the left side and the right side of the rear crawler group are respectively provided with a baffle, a rotating shaft of the rear driving wheel and a rotating shaft of the rear driven wheel are erected between the two baffles, and the distance sensor is fixed on the baffle arranged close to the outer side. The front vehicle body is only responsible for advancing, and the rear vehicle body is only responsible for backing. The distance sensors are arranged at two ends of the fixed baffle plate, and are preferably aligned with the rotating shafts of the front driving wheel and the rear driving wheel and the rotating shafts of the front driven wheel and the rear driven wheel respectively to ensure stable and reliable measured values.

Preferably, one or more groups of elastic supporting wheel sets are further arranged between the two baffles of the front crawler belt set and evenly arranged between the front driving wheel and the front driven wheel, each elastic supporting wheel set comprises an upper shaft and two lower shafts which are arranged in an isosceles triangle shape, two ends of the upper shaft are erected on the baffles, two ends of each lower shaft are respectively provided with a supporting wheel, the supporting wheels are downwards pressed on the inner side surface of the crawler belt, swing rods are respectively arranged between the upper shaft and the two lower shafts, and a tensioning spring is arranged between the two lower shafts; the rear crawler belt group is provided with an elastic supporting wheel group which is the same as the front crawler belt group. The elastic structure of the elastic support wheel set enables the track strip to form a certain radian to be attached to the cambered surface steel gate panel.

Preferably, the supporting wheels at two ends of the lower shaft respectively extend out of the outer side of the baffle from the position below the baffle and the gap of the crawler belt. The upward swinging action of the elastic support wheel set is limited by the baffle plate, so that the track bar is prevented from being loosened when the elastic support wheel set fails.

Preferably, permanent magnet strips are fixedly arranged on the track strip at equal intervals.

Preferably, the bottom surface of the front electromagnet is higher than the bottom surface of the front crawler group, and the bottom surface of the rear electromagnet is higher than the bottom surface of the rear crawler group. The front electromagnet and the rear electromagnet are ensured not to contact with the steel gate panel to cause immovable suction.

Preferably, the front hinge is an electric hinge, and the rear hinge is a common hinge. When the obstacle is crossed, the front vehicle body is kept to be pulled in the front, so that when the front vehicle body falls off and hangs empty, the front vehicle body is swung by the electric hinge to be adsorbed on the steel gate panel again, and meanwhile, the swing of the front vehicle body is controlled by the electric hinge, so that the front vehicle body can cross the obstacle by 90 degrees and 180 degrees below the square beam and the T-shaped beam. The electric hinge can be fixed when not electrified and can rotate directionally when electrified, and the longitudinal bending of the front vehicle body and the rear vehicle body can be adjusted through the rear hinge; the electric hinge can also be a common free hinge when not electrified, can rotate directionally when electrified, can be longitudinally bent by the front hinge and the rear hinge when not electrified, and can be turned over to adhere to the wall when being electrified in a suspended mode.

Preferably, when the front vehicle body and the rear vehicle body are in a plane walking state, the measured value of each distance sensor is D, and the front electromagnet and the rear electromagnet are in an off state in a normal state; when the obstacle crossing state is realized, the front vehicle body is kept in front and only crosses the obstacle forwards, when any one measured value of the four distance sensors of the front vehicle body exceeds nD, the front electromagnet is electrified and started, the front electromagnet is disconnected until the measured values of all the distance sensors of the front vehicle body are smaller than nD, n is a floating coefficient, and the value range of n is 1.05-1.2; and when any one measured value of the four distance sensors of the rear vehicle body exceeds nD, the rear electromagnet is electrified and started until the measured values of the distance sensors of the rear vehicle body are all smaller than nD, and the rear electromagnet is disconnected.

Preferably, when the obstacle crossing state is detected, the front vehicle body is kept in front and only crosses the obstacle forwards, when the measured value of a torsion sensor on any one pitch adjusting and swinging mechanism of the front vehicle body is smaller than a threshold value T, the value of the threshold value T is larger than 0 and smaller than the dead weight torque of the horizontal state of the front track group, the emergency state that the front vehicle body is suspended in the air is judged, at the moment, the front electromagnet and the rear electromagnet are simultaneously electrified and started, the front track group and the rear track group are suspended in the air, the front hinge is electrified to drive the front vehicle body to swing, and the emergency state is relieved until the front hinge cannot continue to rotate and the measured value of the torsion sensor is larger than T. Because the front vehicle body and the rear vehicle body are connected through the two hinges, the front vehicle body can naturally rotate to the gravity suspension position when suspended, the reading value of the torque sensor is close to 0, the front driving motor and the rear driving motor stop to ensure safety, the rear electromagnet starts to improve the adsorption force of the rear vehicle body, and the front electromagnet starts to ensure that the front vehicle body swings to be close to the steel gate panel to generate the adsorption force in time. The robot can finish 180-degree upside-down hanging obstacle crossing of the T-shaped beam of the rear panel of the steel gate in a swinging control mode.

Preferably, when the measured value of the torque sensor on any one pitching adjusting and swinging mechanism of the rear vehicle body is smaller than a threshold value T, the front electromagnet and the rear electromagnet are electrified and started simultaneously, and the front crawler belt group continuously crawls. The rear car body is not provided with an electric hinge, and the suspended state of the rear car body crossing obstacles can be attached to the panel again by forward traction of the front car body.

According to the invention, the joint information of the front vehicle body, the rear vehicle body and the steel gate panel is monitored through the distance sensors and the torque sensors of the front vehicle body and the rear vehicle body, the on-off of the front electromagnet and the rear electromagnet is controlled, and the adsorption force is compensated, so that when the robot works on the beam body surface of the steel gate panel, the robot can cross obstacles such as convex ribs, square beams, T-shaped beams and the like in various forms, and the vehicle body is prevented from falling off in the obstacle crossing process.

Drawings

The invention is further described below with reference to the accompanying drawings.

FIG. 1 is a schematic diagram of an embodiment of the present invention.

FIG. 2 is a schematic view showing a creeping state of a radial steel gate panel according to the present invention.

Fig. 3 is a schematic view of a front track set configuration of the present invention.

Fig. 4 is a schematic diagram of the obstacle crossing process of the rib on the vertical panel.

Fig. 5 is a schematic view of the obstacle surmounting process of the convex rib on the top wall of the invention.

Fig. 6 is a schematic diagram of an obstacle crossing process of a square beam of the invention.

FIG. 7 is a schematic view of a T-beam obstacle crossing process of the present invention.

FIG. 8 is a schematic view of the beam body surface structure of a steel gate panel of the present invention.

In the figure: 1. the front vehicle body, 2, the rear vehicle body, 3, a front hinge, 4, a damping hinge, 5, a rear hinge, 6, a front connecting axle, 7, a rear connecting axle, 8, a pitch adjusting swing mechanism, 9, a front track group, 10, a rear track group, 11, a distance sensor, 12, a front electromagnet, 13, a rear electromagnet, 14, a front driving motor, 15, a rear driving motor, 16, an elastic supporting wheel group, 17, a track strip, 18, a permanent magnet strip, 19, a front driving wheel, 20, a front driven wheel, 21, a baffle plate, 22, an upper shaft, 23, a lower shaft, 24, a supporting wheel, 25, a tensioning spring, 26, a convex rib, 27, a square beam, 28 and a T-shaped beam.

Detailed Description

The invention is further illustrated by the following specific examples in conjunction with the accompanying drawings.

The embodiment is as follows: a robot for split crawling of steel gate panels is shown in figures 1 and 2. This device loops through preceding hinge 3, damping hinge 4, back hinge 5 between preceding automobile body 1 and the back automobile body 2 and connects including preceding automobile body 1 and back automobile body 2, the pivot of preceding hinge and back hinge is along controlling horizontal setting, and the damping hinge pivot is along vertically setting around, and preceding hinge 3 is electronic hinge.

The front vehicle body 1 comprises a transversely arranged front connecting bridge 6, and two ends of the front connecting bridge 6 are respectively connected with a front crawler belt group 9 through a pitching adjusting swing mechanism 8; the rear vehicle body 2 comprises a rear connecting bridge 7 which is transversely arranged, and two ends of the rear connecting bridge 7 are respectively connected with a rear crawler belt group 10 through a pitching adjusting swing mechanism 8. Distance sensors 11 arranged downwards are respectively arranged on the outer sides of two ends of the front crawler belt group 9 and the rear crawler belt group 10, a torsion sensor is respectively arranged on each pitching adjusting and swinging mechanism, a front electromagnet 12 is arranged in the center of the bottom surface of the front connecting bridge 6, and a rear electromagnet 13 is arranged in the center of the bottom surface of the rear connecting bridge 7. The bottom surfaces of the front electromagnets 12 are higher than the bottom surfaces of the front crawler belt groups 9, and the bottom surfaces of the rear electromagnets 3 are higher than the bottom surfaces of the rear crawler belt groups 10.

The front crawler belt group and the rear crawler belt group are symmetrical front and back in structure. The structure of the front crawler set is illustrated by taking the front crawler set as an example, as shown in fig. 3, a front driving wheel 19 is arranged at the front end of the front crawler set 9, a front driven wheel 20 is arranged at the rear end of the front crawler set, a front driving motor 14 is connected to the inner side of the front driving wheel, a crawler belt 17 is sleeved between the front driving wheel 19 and the front driven wheel, the crawler belt 17 is formed by splicing a plurality of sections front and back, and a permanent magnet strip 18 is fixed on each section of the crawler belt 17 through a screw. The left side and the right side of the front crawler belt group 9 are respectively provided with a baffle 21, the front driving wheel and the front driven wheel are erected between the two baffles 21, as shown in fig. 1, the distance sensor 11 is fixed on the baffle 21 arranged near the outer side, and the distance sensor 11 is respectively aligned with the rotating shafts of the front driving wheel 19 and the front driven wheel 20. Still be provided with two sets of elastic support wheelset 16 between two baffles 21 of preceding track group 9, elastic support wheelset 16 evenly sets up between preceding drive wheel 19 and preceding driven wheel 20, elastic support wheelset 16 includes an upper shaft 22 and two lower axles 23 that are isosceles triangle and arrange, upper shaft 22 both ends are erect on baffle 21, the both ends of lower axle 23 set up supporting wheel 24 respectively, supporting wheel 24 pushes down and establishes the medial surface at track strip 17, set up the swinging arms respectively between upper shaft and the two lower axles, set up straining spring 25 between the two lower axles. Support wheels 24 at two ends of the lower shaft 23 respectively extend out of the baffle 21 from the position below the baffle 21 and the gap of the crawler belt 17 to the outer side of the baffle 21. As shown in fig. 1, the rear track group is configured to be symmetrical to the front track group in the front-rear direction, so that the rear track group has a rear driving wheel at the rear and a rear driven wheel at the front, and the rear driving motor 15 is provided near the rear end of the rear track group 10.

The front surface of the steel gate panel is a plane or a cambered surface. When preceding automobile body 1 and back automobile body 2 were along plane walking state, each distance sensor 11 measured value was D, and D is half of preceding track group height, and preceding electro-magnet and back electro-magnet normality are the off-state, rely on the permanent magnetism strip on the track strip to provide the adsorption affinity, reduce the resistance of crawling. When the front vehicle body 1 and the rear vehicle body 2 are in a walking state along the cambered surface, as shown in fig. 2, the longitudinal bending and transverse twisting of the front vehicle body 1 and the rear vehicle body 2 are realized by means of the front hinge, the damping hinge and the rear hinge, the pitching adjustment of the two front crawler groups and the two rear crawler groups is realized by the pitching adjustment swing mechanism 8, the elastic support wheel group 16 enables the crawler belts of the front crawler groups and the two rear crawler groups to be in arc-shaped joint panels, and the effective joint of the crawler belts and the panels is realized when the robot walks on the steel gate panel of the cambered surface in a transverse, longitudinal and oblique manner.

The back of the steel gate panel is a beam body surface, and as shown in fig. 8, convex ribs 26, square beams 27 and T-shaped beams 28 are distributed on the beam body surface. When the crawling robot in the embodiment is used for crawling of the beam body surface of the steel gate panel, obstacle crossing needs to be achieved at the convex ribs, the square beams and the T-shaped beams.

When the obstacle crossing state is realized, the front vehicle body is kept in front and only crosses the obstacle forwards, when the measured value of any one of the four distance sensors of the front vehicle body exceeds 1.1D, the front electromagnet is electrified and started, and the front electromagnet is disconnected until the measured value of each distance sensor of the front vehicle body is smaller than 1.1D; when the measured value of any one of the four distance sensors of the rear vehicle body exceeds 1.1D, the rear electromagnet is electrified and started, and the rear electromagnet is disconnected until the measured value of each distance sensor of the rear vehicle body is less than 1.1D. When the measured value of a torsion sensor on any one pitching adjusting and swinging mechanism 8 of the front vehicle body is smaller than a threshold value T, the value of the threshold value T is larger than 0 and smaller than the dead weight torque generated by the horizontal suspension state of the front crawler group, the emergency state of the front vehicle body is judged, the front electromagnet 12 and the rear electromagnet 13 are simultaneously electrified and started, the front crawler group and the rear crawler group are suspended to walk, the front hinge is electrified and drives the front vehicle body to swing until the front hinge cannot continue to rotate, the measured value of the torsion sensor is larger than T, the front hinge is powered off, and the emergency state is relieved.

The obstacle crossing process of the convex ribs on the vertical panel is shown in figure 4: as shown in fig. 4a, the front vehicle body 1 climbs forward to the convex rib 26, the front end of the front crawler group is raised and erected on the convex rib and separated from the panel, at this time, the front electromagnet 12 is started to increase the adsorption force, the front vehicle body is prevented from falling off, the rear vehicle body 2 is still attached to the panel, and the rear electromagnet 13 is powered off to reduce the climbing resistance; as shown in fig. 4b, the front body 1 is turned over the front end of the rear rib 26 and abuts against the panel, at this time, the front end of the rear body 2 is raised and erected on the rib, and at this time, the front electromagnet 12 and the rear electromagnet 13 are both started to increase the adsorption force; as shown in fig. 4c, the front body 1 finishes obstacle crossing and panel attaching, the front electromagnet 12 is powered off to reduce creeping resistance, at this time, the rear end of the rear body 2 is raised and erected on the convex rib, the rear electromagnet 13 is started to increase adsorption force, the paper rear body 2 finishes obstacle crossing and panel attaching, and the electromagnet 13 is powered off.

The obstacle surmounting process of the ribs 26 on the top wall is shown in fig. 5, and is consistent with the obstacle surmounting process of the ribs on the vertical panels.

The obstacle crossing process of the square beam 27 of the vertical panel is shown in fig. 6: as shown in fig. 6a, when the front vehicle body 1 reaches the 90-degree inner corner of the square beam 27, the front end of the front vehicle body crawls along the side wall of the square beam, and the rear end crawls along the panel, at this time, the front vehicle body 1 is in a triangular overhead state, the measurement value of the distance sensor inevitably exceeds the threshold value, the front electromagnet 12 is powered on to start to increase the adsorption force, the rear vehicle body 2 crawls along the panel in a laminating manner, and the rear electromagnet 13 is powered off to reduce the resistance; as shown in fig. 6b, when the front vehicle body 1 finishes turning and completely fits the square beam 27, the front electromagnet 12 is powered off, the rear vehicle body 2 is about to enter the inner corner, and the rear electromagnet 13 is started when the rear vehicle body 2 enters the inner corner; as shown in fig. 6c, the front body continues to climb on the side wall of the square beam 27, and the front end of the front body is extended out of the air, so that the front electromagnet 12 is started to increase the adsorption force; when the square beam 27 is a vertical longitudinal beam, as shown in fig. 6d-1, the front vehicle body automatically crosses the 90-degree outer corner of the square beam to the top surface of the square beam by utilizing the suction force of the permanent magnet on the track strip to match with the suction force of the continuously electrified and started front electromagnet 12, and enters a state shown in fig. 6 e; as shown in fig. 6e, when the width of the square beam is insufficient or any end of the front car body 1 extends out of the top surface of the square beam, the front electromagnet 12 is kept started to provide an adsorption force, and when the rear car body 2 is completely attached to the side wall of the square beam, the rear electromagnet 13 is powered off, as shown in fig. 6f, when the rear car body 2 turns over the outer corner, any end of the rear car body tilts up, and the rear electromagnet 13 is started; as shown in fig. 6g and 6h, the front body and the rear body sequentially turn over the second outer corner of the top surface of the square beam. In the above process, if the square beam 27 is a cross beam, the state shown in fig. 6d-1 may be replaced by the state shown in fig. 6d-2, the front vehicle body 1 is completely separated from the square beam and is in a suspended state, at this time, the measured value of the torque sensor on the pitch adjusting and swinging mechanism of the front vehicle body 1 is smaller than the threshold value T, and enters an emergency state, the front electromagnet 12 and the rear electromagnet 13 are simultaneously powered on and started, the front track group and the rear track group are suspended from traveling, the front hinge is powered on to drive the front vehicle body 1 to swing until the front hinge cannot continue to rotate and the measured value of the torque sensor is larger than T, and at this time, the front hinge is powered off, and the emergency state is removed.

The obstacle crossing process of the T-beam 28 of the vertical panel is shown in FIG. 7: as shown in fig. 7a, 7b, 7c, 7d, the front 1 and rear 2 bodies are flipped over the 90 degree inner corner of the T-beam 28 in the same way as in fig. 6 flipped over the inner corner of the square beam 27; as shown in fig. 7e, when the robot climbs to the outer corner of the T-beam 28 facing downward at 180 degrees, the front car body 1 is completely separated from the T-beam and is in a suspended state, at this time, the measured value of the torsion sensor on the pitch adjusting swing mechanism of the front car body 1 is smaller than the threshold value T, and enters an emergency state, the front electromagnet 12 and the rear electromagnet 13 are simultaneously powered on and started, the front track group and the rear track group are suspended from traveling, the front hinge is powered on to drive the front car body 1 to swing until the front hinge cannot continue to rotate and the measured value of the torsion sensor is larger than T, at this time, fig. 7f enters a state shown in fig. 7g, the front car body continues to climb upwards, the rear car body is completely attached to the inner wall of the T-beam, the rear electromagnet 13 is in a powered off state, as shown in fig. 7h, until the traction force of the front car body is larger than the adsorption force of the rear car body 2, the rear car body is separated from the T-beam and is suspended, at this time, the front electromagnet 12 and the rear electromagnet 13 are simultaneously powered on and started, the front vehicle body continuously crawls to drive the rear vehicle body to attach to the surface of the T-shaped beam again; as shown in fig. 7i, 7j, the 180 degree upward outer corner of the T-beam 28 can be turned over by the self-weight of the front vehicle body 1.

Claims

1. The utility model provides a steel gate panel components of a whole that can function independently robot of crawling, includes preceding automobile body and back automobile body, its characterized in that: the front vehicle body and the rear vehicle body are connected through a front hinge, a damping hinge and a rear hinge in sequence, rotating shafts of the front hinge and the rear hinge are transversely arranged along the left and right direction, and the rotating shafts of the damping hinge are longitudinally arranged along the front and the rear direction; the front vehicle body comprises a transversely arranged front connecting bridge, and two ends of the front connecting bridge are respectively connected with a front crawler belt group through a pitching adjusting and swinging mechanism; the rear vehicle body comprises a transversely arranged rear connecting bridge, and two ends of the rear connecting bridge are respectively connected with a rear crawler belt group through a pitching adjusting and swinging mechanism; the front crawler belt group and the rear crawler belt group both use permanent magnet crawler belts; distance sensors which are arranged downwards are respectively arranged on the outer sides of the two ends of the front crawler group and the rear crawler group, a torque sensor is respectively arranged on each pitching adjusting and swinging mechanism, a front electromagnet is arranged at the center of the bottom surface of the front connecting bridge, and a rear electromagnet is arranged at the center of the bottom surface of the rear connecting bridge.

2. The split crawling robot for the steel gate panel according to claim 1, wherein: the front end of the front crawler group is provided with a front driving wheel, the rear end of the front crawler group is provided with a front driven wheel, the inner side of the front driving wheel is connected with a front driving motor, a crawler belt is sleeved between the front driving wheel and the front driven wheel, the left side and the right side of the front crawler group are respectively provided with a baffle, the front driving wheel and the front driven wheel are erected between the two baffles, and the distance sensor is fixed on the baffle arranged close to the outer side; the rear end of the rear crawler group is provided with a rear driving wheel, the front end of the rear crawler group is provided with a rear driven wheel, the inner side of the rear driving wheel is connected with a rear driving motor, a crawler belt is sleeved between the rear driving wheel and the rear driven wheel, the left side and the right side of the rear crawler group are respectively provided with a baffle, a rotating shaft of the rear driving wheel and a rotating shaft of the rear driven wheel are erected between the two baffles, and the distance sensor is fixed on the baffle arranged close to the outer side.

3. The split crawling robot for the steel gate panel according to claim 2, wherein: one or more groups of elastic supporting wheel sets are further arranged between the two baffles of the front crawler belt set and evenly arranged between the front driving wheel and the front driven wheel, each elastic supporting wheel set comprises an upper shaft and two lower shafts which are arranged in an isosceles triangle shape, two ends of each upper shaft are erected on the corresponding baffle, two ends of each lower shaft are respectively provided with a supporting wheel, each supporting wheel is downwards pressed on the inner side surface of the crawler belt, swing rods are respectively arranged between each upper shaft and each lower shaft, and a tensioning spring is arranged between each lower shaft; the rear crawler belt group is provided with an elastic supporting wheel group which is the same as the front crawler belt group.

4. The split crawling robot for the steel gate panel according to claim 3, wherein: and the supporting wheels at two ends of the lower shaft respectively extend out of the outer side of the baffle from the lower part of the baffle and the gap between the crawler strips.

5. The split crawling robot for the steel gate panel as claimed in claim 1, 2, 3 or 4, wherein: permanent magnetic strips are fixedly arranged on the track strip at equal intervals.

6. The split crawling robot for the steel gate panel as claimed in claim 1, 2, 3 or 4, wherein: the bottom surface of the front electromagnet is higher than that of the front crawler belt group, and the bottom surface of the rear electromagnet is higher than that of the rear crawler belt group.

7. The split crawling robot for the steel gate panel as claimed in claim 1, 2, 3 or 4, wherein: the front hinge is an electric hinge, and the rear hinge is a common hinge.

8. The split crawling robot for the steel gate panel as claimed in claim 1, 2, 3 or 4, wherein: when the front vehicle body and the rear vehicle body are in a plane walking state, the measured value of each distance sensor is D, and the front electromagnet and the rear electromagnet are in an off state normally; when the obstacle crossing state is realized, the front vehicle body is kept in front and only crosses the obstacle forwards, when any one measured value of the four distance sensors of the front vehicle body exceeds nD, the front electromagnet is electrified and started, the front electromagnet is disconnected until the measured values of all the distance sensors of the front vehicle body are smaller than nD, n is a floating coefficient, and the value range of n is 1.05-1.2; and when any one measured value of the four distance sensors of the rear vehicle body exceeds nD, the rear electromagnet is electrified and started until the measured values of the distance sensors of the rear vehicle body are all smaller than nD, and the rear electromagnet is disconnected.

9. The split crawling robot for the steel gate panel according to claim 7, wherein: when the obstacle crossing state is detected, the front vehicle body is kept in front and only crosses the obstacle forwards, when the measured value of a torsion sensor on any one pitching adjusting swing mechanism of the front vehicle body is smaller than a threshold value T, the value of the threshold value T is larger than 0 and smaller than the dead weight torque of the horizontal state of the front track group, the emergency state of the front vehicle body in suspension is judged, the front electromagnet and the rear electromagnet are simultaneously electrified and started, the front track group and the rear track group are suspended to walk, the front hinge is electrified to drive the front vehicle body to swing, and the front hinge is powered off until the front hinge cannot continue to rotate and the measured value of the torsion sensor is larger than T, so that the emergency state is relieved.

10. The split crawling robot for the steel gate panel according to claim 9, wherein: when the measured value of the torsion sensor on any one pitching adjusting and swinging mechanism of the rear vehicle body is smaller than a threshold value T, the front electromagnet and the rear electromagnet are electrified and started at the same time, and the front crawler group continuously crawls.