A wall-climbing robot pulling device and a method of using the same

Abstract

The application discloses a wall-climbing robot pulling device and a use method thereof, which comprises a pulling disc, a power mechanism, a supporting mechanism, a connecting mechanism and a matching mechanism, the supporting mechanism is connected with the power mechanism, is used for carrying the power mechanism and providing rigid support for the power mechanism, the connecting mechanism is connected with the supporting mechanism and the matching mechanism respectively, and the whole pulling device is fixed to the wall-climbing robot, the front end of the power mechanism is connected with the pulling disc, the pulling disc can be telescopic along the axial direction of the power mechanism, the power mechanism outputs a rotating torque to drive the pulling disc to rotate, the pulling disc is in contact with a working surface to adaptively polish, one end of the matching mechanism is connected with the wall-climbing robot through bolts, and the other end is matched with the connecting mechanism, the application has the advantages of simple structure, convenient operation, effective reduction of high-altitude operation, improvement of a safety coefficient, carrying of a flexible front end, stable and uniform quality, simultaneous grinding of multiple discs, great improvement of efficiency, obvious pulling marks, on-site rapid inspection, wide application prospect and favorable promotion and application.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a wall-climbing robot hair-removing device and its usage method. Background Technology

[0002] Currently, the surface roughening process in the painting of large storage tanks and shipbuilding is entirely done manually, requiring the use of suspended platforms or lifting vehicles for high-altitude operations. This not only carries a high risk factor but also generates a large amount of paint dust, resulting in a poor working environment. To avoid secondary pollution, roughening must be completed as quickly as possible once started, leading to high labor intensity. Furthermore, the randomness of manual work results in inconsistent roughening quality and makes inspection difficult. While wall-climbing robots can replace manual labor on metal walls, there are currently no specialized wall-climbing robots for roughening processes. Existing wall-climbing robots simply transplant manual roughening tools, leaving many areas unreachable. Moreover, most working surfaces are highly uneven, with protruding parts easily over-roughened and recessed areas difficult to roughen in one pass. Therefore, there is an urgent need to develop a wall-climbing robot roughening device and its usage method to solve the above-mentioned technical problems.

[0003] In view of this, the present invention is hereby proposed. Summary of the Invention

[0004] The purpose of this invention is to provide a wall-climbing robot roughening device and its usage method. It has a simple structure, is easy to operate, can effectively reduce high-altitude operations, improve the safety factor, is equipped with a flexible front end, has stable and uniform quality, can grind multiple discs at the same time, greatly improves efficiency, leaves obvious roughening marks, and can quickly report on-site. It has broad application prospects and is conducive to promotion and application.

[0005] To achieve the above objectives, the present invention provides a wall-climbing robot texturing device, comprising a texturing disc, a power mechanism, a support mechanism, a connecting mechanism, and a mating mechanism. The support mechanism is connected to the power mechanism and is used to mount the power mechanism and provide rigid support for it. The connecting mechanism is connected to the support mechanism and the mating mechanism respectively, fixing the entire texturing device to the wall-climbing robot. The front end of the power mechanism is connected to the texturing disc, which can extend and retract along the axial direction of the power mechanism. The power mechanism outputs rotational torque to drive the texturing disc to rotate. The texturing disc contacts the working surface for adaptive texturing. One end of the mating mechanism is connected to the wall-climbing robot by bolts, and the other end is mated with the connecting mechanism, so that the texturing disc always adheres to the working wall surface as the wall-climbing robot runs.

[0006] The power mechanism includes a rotary motor. The output shaft of the rotary motor is connected to the sleeve base via a keyway. Bearing 1, a bushing, and bearing 2 are sequentially fitted onto the outside of the sleeve base. A limiting block, fixed to the rotary motor, is fitted onto the outside of bearing 1, bushing, and bearing 2, allowing the sleeve base to rotate stably with the rotary motor. The sleeve base is threadedly connected to the rotating sleeve and is limited by a thrust ring. The rotating sleeve is fixedly connected to a fixed flange. A movable shaft is provided in the inner hole of the rotating sleeve. One end of the movable shaft is threadedly connected to a spring connecting support, and the other end is threadedly connected to a connecting shaft. At least two guide grooves are evenly distributed axially upwards on the outer side of the movable shaft. The fixed flange... The side is provided with a protruding ridge that matches the guide groove. The movable shaft is slidably connected to the fixed flange through the guide groove. A spring is installed between the spring connecting bracket and the sleeve base. After the rotating sleeve is connected to the sleeve base, a cavity is formed inside. The spring is located in the cavity. The end of the connecting shaft is connected to the brushing disc. The brushing disc includes a disc with abrasive wires evenly distributed on it. The rotating motor drives the sleeve base and the rotating sleeve to rotate. The fixed flange, the movable shaft, and the connecting shaft rotate synchronously. The movable shaft and the connecting shaft can both rotate and move axially. While the connecting shaft drives the brushing disc to rotate, it can always maintain close contact with the working surface under the action of the spring.

[0007] The connecting mechanism includes several connecting plates, several positioning blocks, and two aluminum tubes. The top of the connecting plate has several connecting holes, and the bottom has an adjustment groove. The positioning block is racetrack-shaped and has two symmetrical bosses. The outer side of the boss has an external thread, and the inner side of the boss has a through hole. When the wall-climbing robot lacks a height adjustment function and needs to adjust the height of the textured plate through the connecting mechanism, the aluminum tube passes through the positioning block, the adjustment groove on the connecting plate, and the locking nut. Each side of each connecting plate is connected to a positioning block and a locking nut. The external thread of the positioning block faces the direction that is easy to tighten. Adjust the positioning block to the appropriate height of the adjustment groove, and tighten the locking nut to the external thread of the positioning block to fix the positioning block in the adjustment groove. The external threads at both ends of the aluminum tube are tightened with the locking nut to lock and fix the aluminum tube to the connecting plates on both sides, preventing the aluminum tube from moving left and right. When the wall-climbing robot has a built-in height adjustment function and does not need to adjust the height of the textured plate through the connecting mechanism, the aluminum tube passes through the positioning block, the connecting holes on the connecting plate, and the locking nut. The installation method is the same as above.

[0008] The support mechanism includes a support plate, which has several sets of power mechanism connection holes connected to the power mechanism, several sets of connection mechanism connection holes connected to the connection mechanism, a distance sensor, and several hollow weight reduction holes. Each set of power mechanism connection holes has an arc hole that matches the power mechanism. The connection mechanism connection holes are through holes, corresponding to the threaded holes at the bottom of the connection mechanism connection plate. The distance sensor is used to detect the distance from the sensor to the brushing plate in real time. When the brushing plate is not in contact with the working wall, the distance is a constant value. Adjusting the connection mechanism to press down, i.e., adjusting the height of the aluminum tube in the adjustment groove, reduces the distance from the support plate to the wall. When the brushing plate contacts the wall, the distance decreases as the pressure continues.

[0009] The mating mechanism includes a connecting back plate. One side of the connecting back plate is fixed to the wall-climbing robot by bolts, and the other side is fixed to two aluminum tube supports that mate with aluminum tubes. The bottom of the connecting back plate is rotatably connected to a pressure block via a rotating shaft. The inner side of the pressure block is provided with an arc groove that matches the aluminum tube for pressing the aluminum tube. The top of the connecting back plate is provided with a rotating shaft, and a rotating shaft rod is rotatably connected to the rotating shaft. One end of the rotating shaft rod is provided with a connecting hole for the rotating shaft, and the other end is provided with a locking thread for connecting with a plum nut. The top of the pressure block is provided with a rotating shaft rod receiving groove and a locking round block receiving groove. The rotating shaft rod passes through the inside of the locking round block and the locking thread is tightened by the plum nut, which, together with the locking round block, locks the pressure block.

[0010] Preferably, the center of the brushing disc is provided with a threaded hole, the end of the connecting shaft is provided with an external thread, the brushing disc is threadedly connected to the connecting shaft, and after tightening, it is reinforced with a fastening nut.

[0011] Preferably, the abrasive filament is made of nylon filament filled with hard particles.

[0012] Preferably, the power source of the power mechanism is electricity or compressed air.

[0013] Preferably, the support mechanism can be equipped with multiple power mechanisms, which are connected to the support mechanism by bolts, and the support mechanism can be increased or decreased according to the width of the roughening.

[0014] Preferably, the rotating sleeve is fixed to the fixed flange by four fastening bolts evenly distributed around the axis.

[0015] Preferably, the method for manufacturing the textured surface plate is characterized by comprising the following steps:

[0016] S1: Nylon is used as the matrix and 15-30% of silicon carbide particles with a diameter of 0.5-1.5mm are incorporated to make abrasive wire with a diameter of 1-3mm. Each abrasive wire is 60-100mm long.

[0017] S2: Injection-molded disc with a standard nut embedded in its center. The internal thread mates with the connecting shaft of the power mechanism. The diameter is 150-250mm and the thickness is 15-20mm.

[0018] S3: Make several concentric circles on the disk, with a diameter of 5-8mm and a depth of 70-80% of the disk thickness;

[0019] S4: The abrasive wires prepared in S1 are implanted into the disc using a filament implantation machine;

[0020] S5: Trim the grinding wires of S4 to make them of uniform length, with 35-45mm of the exposed portion of the disc.

[0021] The present invention also provides a method for using the hair-removing device for a wall-climbing robot, comprising the following steps:

[0022] S1: To ensure the quality of the napping, multiple napping trays should be staggered when working together. The overlap should be 10-40% of the diameter. The distance between the two dotted lines that pass through the center of the circle vertically is the diameter of the napping tray minus the overlap. The distance between the centers of the napping trays should be 105-115% of the diameter.

[0023] S2: Determine the number of napping trays based on the napping width. Let the napping width be w, the napping tray diameter be d, the number of napping trays be n, and the overlap be m. w = d × nm × (n-1).

[0024] S3: The length of the support mechanism is w+d×3, and the width is 120-160% of the diameter of the sizing plate. Non-support parts can be hollowed out to reduce weight. Circular holes are opened at the design positions of the sizing plate so that the power mechanism can pass through smoothly.

[0025] S4: The power mechanism is connected to the support mechanism by bolts;

[0026] S5: The connecting shaft between the brushing disc and the power mechanism is connected by a thread. After tightening, it is reinforced with a fastening nut to prevent it from falling off.

[0027] S6: The connecting mechanism connects to the wall-climbing robot. If the wall-climbing robot has a lifting device, the distance between the textured plate and the wall can be directly adjusted. Otherwise, it can be adjusted through the adjustment groove. After the textured plate is in contact with the wall, it continues to press down for half of the textured stroke. This distance can be measured by the distance sensor and transmitted to the control terminal of the wall-climbing robot in real time. The textured stroke is the maximum distance that the textured plate can move elastically along the axial direction.

[0028] S7: Turn on the rotating motor, and the wall-climbing robot moves in the direction where the texturing device is not installed to perform the texturing operation.

[0029] The present invention provides a wall-climbing robot hair-removing device and its usage method, which has the following beneficial effects.

[0030] 1. This invention has a simple structure and is easy to operate. It can effectively reduce high-altitude operations, improve the safety factor, and is equipped with a flexible front end. The quality is stable and uniform, and multiple discs can grind at the same time, which greatly improves efficiency, makes the roughening marks obvious, and allows for rapid on-site inspection.

[0031] 2. The abrasive wire of the present invention can better adhere to the working surface, and the floating front end can cope with the unevenness of the working surface, thus ensuring stable roughening quality.

[0032] 3. During operation, the roughening discs of this invention remain in close contact with the working wall. Even if the height difference caused by steel plate deformation, weld seams, raised lettering, etc. reaches 10mm, the grinding force of each disc on the wall remains uniform, ensuring constant roughening quality. Efficiency can be greatly improved by increasing the number of roughening discs. Attached Figure Description

[0033] Figure 1 This is a schematic diagram of the structure of a wall-climbing robot texturing device provided by the present invention;

[0034] Figure 2 A schematic diagram of the power mechanism structure of a wall-climbing robot texturing device provided by the present invention;

[0035] Figure 3 An exploded view of the power mechanism of a wall-climbing robot texturing device provided by the present invention;

[0036] Figure 4 A schematic diagram of the connection mechanism structure of a wall-climbing robot texturing device provided by the present invention. Figure 1 ;

[0037] Figure 5 A schematic diagram of the connection mechanism structure of a wall-climbing robot texturing device provided by the present invention. Figure 2 ;

[0038] Figure 6 This invention provides a schematic diagram of the support mechanism structure of a textured surface device for a wall-climbing robot.

[0039] Figure 7 This invention provides a schematic diagram of the mechanism for a texture-removing device for a wall-climbing robot.

[0040] Figure 8 This is a schematic diagram of the texturing disc structure of a texturing device for a wall-climbing robot provided by the present invention;

[0041] Figure 9 This invention provides a schematic diagram of the positioning block structure of a textured surface device for a wall-climbing robot.

[0042] Figure 10 This invention provides a schematic diagram of the rotating shaft structure of a textured surface device for a wall-climbing robot.

[0043] Figure 11 A schematic diagram illustrating the machining process of a wall-climbing robot's texturing device with two concentric circles of holes on its disc, provided by the present invention.

[0044] Figure 12 The present invention provides a layout diagram of five textured discs for a textured surface device for a wall-climbing robot.

[0045] In the picture:

[0046] 1. Scrubbing disc 101. Grinding wire 102. Disc 103. Threaded hole 2. Power mechanism 201. Rotary motor 202. Sleeve base 203. Bearing 1 204. Bushing 205. Bearing 2 206. Thrust ring 207. Limiting block 208. Spring connecting support 209. Movable shaft 210. Rotating sleeve 211. Fixed flange 212. Connecting shaft 3. Support mechanism 301. Power mechanism connecting hole 302. Connecting mechanism connecting hole 303. Distance sensor 304. Arc hole 305. Hollowed-out weight reduction hole 4. Connecting machine Components 401. Connecting plate 402. Aluminum tube 403. Positioning block 4031. External thread one 4032. Boss 4033. Through hole 404. Adjusting groove 405. External thread two 5. Mating mechanism 501. Aluminum tube support 502. Rotating shaft one 503. Pressure block 504. Plum nut 505. Rotating shaft rod 5051. Rotating shaft two connecting hole 5052. Locking thread 506. Locking block 507. Rotating shaft two 508. Connecting back plate 509. Arc groove 510. Rotating shaft rod receiving groove 511. Locking block receiving groove. Detailed Implementation

[0047] The present invention will be further described below with reference to specific embodiments and accompanying drawings to help understand the content of the present invention.

[0048] like Figure 1The diagram shows a structural schematic of a wall-climbing robot texturing device provided by the present invention. This texturing device includes a texturing disc 1, a power mechanism 2, a support mechanism 3, a connecting mechanism 4, and a mating mechanism 5. The support mechanism 3 is connected to the power mechanism 2, serving to mount and provide rigid support for the power mechanism 2. The support mechanism 3 can mount multiple power mechanisms 2, which are connected to the support mechanism 3 via bolts. The support mechanism 3 can be increased or decreased according to the texturing width. The connecting mechanism 4 is connected to both the support mechanism 3 and the mating mechanism 5, fixing the entire texturing device to the wall-climbing robot. The front end of the power mechanism 2 is connected to the texturing disc 1, which can extend and retract along the axial direction of the power mechanism 2. The power mechanism 2 outputs rotational torque to drive the texturing disc 1 to rotate. The texturing disc 1 contacts the working surface for adaptive texturing. The power source for the power mechanism 2 is electricity or compressed air. One end of the mating mechanism 5 is connected to the wall-climbing robot via bolts, and the other end is mated with the connecting mechanism 4, ensuring that the texturing disc 1 remains in contact with the working wall surface as the wall-climbing robot operates.

[0049] like Figures 2-3 The figures shown are a schematic diagram and an exploded view of the power mechanism structure of a wall-climbing robot texturing device provided by the present invention. The power mechanism 2 includes a rotating motor 201, the output shaft of which is connected to a sleeve base 202 via a keyway. A bearing 203, a bushing 204, and a bearing 205 are sequentially fitted onto the outside of the sleeve base 202. A limiting block 207, which is fixed to the rotating motor 201, is fitted onto the outside of the bearing 203, bushing 204, and bearing 205, so that the sleeve base 202 rotates stably with the rotating motor 201. The sleeve base 202 is threadedly connected to a rotating sleeve 210 and is limited by a thrust ring 206. The rotating sleeve 210 is fixed to a fixed flange 211 by four fastening bolts evenly distributed around the axis. The rotating sleeve 210 has a movable shaft 209 in its inner hole. One end of the movable shaft 209 is threadedly connected to the spring connecting bracket 208, and the other end is threadedly connected to the connecting shaft 212. At least two guide grooves are evenly distributed axially on the outer side of the movable shaft 209. The inner side of the fixed flange 211 has a protrusion matching the guide grooves. The movable shaft 209 is slidably connected to the fixed flange 211 through the guide grooves. A spring is installed between the spring connecting bracket 208 and the sleeve base 202. After the rotating sleeve 210 is connected to the sleeve base 202, a cavity is formed inside, and the spring is located within the cavity. The end of the connecting shaft 212 is connected to the roughening disc 1. Figure 8The diagram shows a schematic of the texturing disc structure of a texturing device for a wall-climbing robot provided by the present invention. The texturing disc 1 includes a disc 102, on which abrasive filaments 101 are evenly distributed. The abrasive filaments 101 are made of nylon filaments filled with hard particles. A threaded hole 103 is provided at the center of the disc 102 of the texturing disc 1. The end of the connecting shaft 212 is provided with an external thread. The texturing disc 1 is threadedly connected to the connecting shaft 212 and tightened with a fastening nut. By rotating the motor 201, the sleeve base 202 and the rotating sleeve 210 are driven to rotate. The fixed flange 211, the movable shaft 209, and the connecting shaft 212 rotate synchronously. The movable shaft 209 and the connecting shaft 212 can both rotate and move axially. While the connecting shaft 212 drives the texturing disc 1 to rotate, it can always maintain close contact with the working surface under the action of the spring.

[0050] like Figures 4-5 The figures shown are schematic diagrams of the connection mechanism structure of a wall-climbing robot texturing device provided by the present invention. Figure 1 and structural diagram Figure 2 The connecting mechanism 4 includes several connecting plates 401, several positioning blocks 403, and two aluminum tubes 402. The connecting plates 401 have several connecting holes at the top and adjusting grooves 404 at the bottom. Figure 9 The diagram shows a schematic of the positioning block structure of a wall-climbing robot texturing device provided by the present invention. The positioning block 403 is racetrack-shaped, with two symmetrically arranged bosses 4032. The outer side of each boss 4032 has an external thread 4031, and the inner side of each boss 4032 has a through hole 4033. Figure 5 As shown, when the wall-climbing robot lacks a height adjustment function and needs to adjust the height of the textured plate 1 via the connecting mechanism 4, the aluminum tube 402 passes through the positioning block 403, the adjustment groove 404 on the connecting plate 401, and the locking nut 1. Each side of the connecting plate 401 is connected to a positioning block 403 and a locking nut 1, respectively. The external thread 4031 of the positioning block 403 faces a direction conducive to tightening. The positioning block 403 is adjusted to an appropriate height in the adjustment groove 404, and the locking nut 1 is tightened to the external thread 4031 of the positioning block 403, fixing the positioning block 403 within the adjustment groove 404. The external threads 405 at both ends of the aluminum tube 402 are tightened with the locking nut 2, locking the aluminum tube 402 to the connecting plates 401 on both sides and preventing the aluminum tube 402 from moving left or right. Figure 4 As shown, when the wall-climbing robot has a built-in height adjustment function and does not need to adjust the height of the textured plate 1 through the connecting mechanism 4, the aluminum tube 402 passes through the positioning block 403, the connecting hole on the connecting plate 401 and the locking nut 1, and the installation method is the same as above;

[0051] like Figure 6The diagram shows a schematic of the support mechanism structure of a wall-climbing robot texturing device provided by the present invention. The support mechanism 3 includes a support plate, which has several sets of power mechanism connection holes 301 connected to the power mechanism 2, several sets of connection mechanism connection holes 302 connected to the connection mechanism 4, a distance sensor 303, and several hollow weight-reducing holes 305. Each set of power mechanism connection holes 301 has an arc hole 304 that matches the power mechanism 2. The connection mechanism connection holes 302 are through holes, corresponding to the threaded holes at the bottom of the connection plate 401 of the connection mechanism 4. The distance sensor 303 is used to detect the distance to the texturing disc 1 in real time. When the texturing disc 1 is not in contact with the working wall surface, the distance is a constant value. Adjusting the connection mechanism 4 to press down, that is, adjusting the height of the aluminum tube 402 in the adjustment groove 404, reduces the distance from the support plate to the wall surface. When the texturing disc 1 contacts the wall surface, the distance decreases as the pressure continues.

[0052] like Figure 7 The diagram shows a schematic of the mating mechanism of a wall-climbing robot texturing device provided by the present invention. The mating mechanism 5 includes a connecting back plate 508. One side of the connecting back plate 508 is fixed to the wall-climbing robot by bolts, and the other side is fixed with two aluminum tube supports 501 that mate with aluminum tubes 402. The bottom of the connecting back plate 508 is rotatably connected to a pressure block 503 via a first rotating shaft 502. The pressure block 503 has an arc groove 509 on its inner side that matches the aluminum tube 402 for pressing the aluminum tube 402. The top of the connecting back plate 508 has a second rotating shaft 507, and a rotating shaft rod 505 is rotatably connected to the second rotating shaft 507. Figure 10 The diagram shows a schematic of the rotating shaft member structure of a wall-climbing robot texturing device provided by the present invention. One end of the rotating shaft member 505 is provided with a rotating shaft connection hole 5051, and the other end is provided with a locking thread 5052 for connection with a plum nut 504. The top of the pressure block 503 is provided with a rotating shaft member receiving groove 510 and a locking block receiving groove 511. The rotating shaft member 505 passes through the inside of the locking block 506, and the locking thread 5052 is tightened by the plum nut 504, which cooperates with the locking block 506 to lock the pressure block 503.

[0053] The method for manufacturing the textured surface plate 1 is characterized by comprising the following steps:

[0054] S1: Using nylon as a matrix, 15-30% silicon carbide particles with a diameter of 0.5-1.5mm are incorporated to form a grinding wire 101 with a diameter of 1-3mm. Each grinding wire 101 has a length of 60-100mm.

[0055] S2: Injection-molded disc 102, with a standard nut embedded in its center, the internal thread of which mates with the connecting shaft 212 of the power mechanism 2, with a diameter of 150-250mm and a thickness of 15-20mm;

[0056] S3: Several concentric circles are made on the disk 102, with a diameter of 5-8mm and a depth of 70-80% of the thickness of the disk 102; for example... Figure 11 The diagram shown is a schematic diagram of the machining of two circular holes on the disc 102 of a wall-climbing robot texturing device provided by the present invention.

[0057] S4: The abrasive wire 101 prepared in S1 is implanted into the disc 102 using a filament implantation machine;

[0058] S5: Trim the grinding wire 101 of S4 to make it of uniform length, with the exposed portion of the disc 102 being 35-45mm.

[0059] The method of using the wall-climbing robot's texturing device includes the following steps:

[0060] S1: To ensure the quality of the napping process, multiple napping discs 1 should be staggered when working together. The overlap should be 10-40% of the diameter. The distance between the two dotted lines passing vertically through the center of the disc should be the diameter of the napping disc 1 minus the overlap. The center-to-center distance of the napping discs 1 should be 105-115% of the diameter. Figure 12 The diagram shown is a layout of five textured trays for a wall-climbing robot textured device provided by the present invention.

[0061] S2: Determine the number of napping discs 1 based on the napping width. Let the napping width be w, the diameter of napping disc 1 be d, the number of napping discs 1 be n, and the overlap be m. w = d × nm × (n-1).

[0062] S3: The length of the support mechanism 3 is w+d×3, and the width is 120-160% of the diameter of the sizing plate 1. The non-support parts can be hollowed out to reduce weight. A round hole is opened at the design position of the sizing plate 1 so that the power mechanism 2 can pass through smoothly.

[0063] S4: The power mechanism 2 is connected to the support mechanism 3 by bolts;

[0064] S5: The connecting shaft 212 between the brushing disc 1 and the power mechanism 2 is connected by a thread. After tightening, it is reinforced with a fastening nut to prevent it from falling off.

[0065] S6: The connecting mechanism 4 is connected to the wall-climbing robot. If the wall-climbing robot has a lifting device, the distance between the textured plate 1 and the wall can be directly adjusted. Otherwise, it can be adjusted through the adjusting groove 404 so that after the textured plate 1 is attached to the wall, it continues to press down for half the textured stroke. This distance can be measured by the distance sensor 303 and transmitted to the wall-climbing robot control terminal in real time. The textured stroke is the maximum distance that the textured plate 1 can move elastically along the axial direction.

[0066] S7: Turn on the rotating motor 201, and the wall-climbing robot moves in the direction where the texturing device is not installed to carry out the texturing operation.

[0067] The test data for applying this invention to the painting operation in the shipbuilding workshop are as follows: With a 200mm diameter trowel, five trowels working simultaneously, an overlap of 30%, a trowel width of 760mm, a travel speed of 20m / min, and a maximum single-pass trowel efficiency of 912m. 2 / h, continuous 3000m 2 It takes less than 10 hours, which is more than three times the efficiency of manual labor, and the quality is stable, passing the inspection on the first try.

[0068] This invention features a simple structure and convenient operation, effectively reducing high-altitude work and improving safety. Equipped with a flexible front end, it ensures stable and uniform quality. Simultaneous grinding by multiple discs significantly improves efficiency, resulting in noticeable roughening marks and rapid on-site inspection. The grinding wire 101 of this invention better adheres to the working surface, and the floating front end addresses unevenness, ensuring consistent roughening quality. During operation, the roughening discs 1 remain in close contact with the working surface. Even with height differences of up to 10mm caused by steel plate deformation, welds, or raised lettering, the grinding force from each disc remains uniform, guaranteeing consistent roughening quality. Increasing the number of roughening discs 1 can significantly improve efficiency.

[0069] This article uses specific examples to illustrate the inventive concept in detail. The description of the above embodiments is only for the purpose of helping to understand the core idea of ​​the present invention. It should be noted that any obvious modifications, equivalent substitutions or other improvements made by those skilled in the art without departing from the inventive concept should be included within the protection scope of the present invention.

Claims

1. A textured surface device for a wall-climbing robot, characterized in that, The device includes a texturing disc, a power mechanism, a support mechanism, a connecting mechanism, and a mating mechanism. The support mechanism is connected to the power mechanism and is used to mount the power mechanism and provide rigid support for it. The connecting mechanism is connected to both the support mechanism and the mating mechanism, fixing the entire texturing device to the wall-climbing robot. The front end of the power mechanism is connected to the texturing disc, which can extend and retract along the axial direction of the power mechanism. The power mechanism outputs rotational torque to drive the texturing disc to rotate. The texturing disc contacts the working surface for adaptive grinding. One end of the mating mechanism is connected to the wall-climbing robot by bolts, and the other end is mated with the connecting mechanism, so that the texturing disc always adheres to the working wall surface as the wall-climbing robot runs. The power mechanism includes a rotary motor. The output shaft of the rotary motor is connected to the sleeve base via a keyway. Bearing 1, a bushing, and bearing 2 are sequentially fitted onto the outside of the sleeve base. A limiting block, fixed to the rotary motor, is fitted onto the outside of bearing 1, bushing, and bearing 2, allowing the sleeve base to rotate stably with the rotary motor. The sleeve base is threadedly connected to the rotating sleeve and is limited by a thrust ring. The rotating sleeve is fixedly connected to a fixed flange. A movable shaft is provided in the inner hole of the rotating sleeve. One end of the movable shaft is threadedly connected to a spring connecting support, and the other end is threadedly connected to a connecting shaft. At least two guide grooves are evenly distributed axially upwards on the outer side of the movable shaft. The fixed flange... The side is provided with a protruding ridge that matches the guide groove. The movable shaft is slidably connected to the fixed flange through the guide groove. A spring is installed between the spring connecting bracket and the sleeve base. After the rotating sleeve is connected to the sleeve base, a cavity is formed inside. The spring is located in the cavity. The end of the connecting shaft is connected to the brushing disc. The brushing disc includes a disc with abrasive wires evenly distributed on it. The rotating motor drives the sleeve base and the rotating sleeve to rotate. The fixed flange, the movable shaft, and the connecting shaft rotate synchronously. The movable shaft and the connecting shaft can both rotate and move axially. While the connecting shaft drives the brushing disc to rotate, it can always maintain close contact with the working surface under the action of the spring. The connecting mechanism includes several connecting plates, several positioning blocks, and two aluminum tubes. The top of the connecting plate has several connecting holes, and the bottom has an adjustment groove. The positioning block is racetrack-shaped and has two symmetrical bosses. The outer side of the boss has an external thread, and the inner side of the boss has a through hole. When the wall-climbing robot lacks a height adjustment function and needs to adjust the height of the textured plate through the connecting mechanism, the aluminum tube passes through the positioning block, the adjustment groove on the connecting plate, and the locking nut. Each side of each connecting plate is connected to a positioning block and a locking nut. The external thread of the positioning block faces the direction that is easy to tighten. Adjust the positioning block to the appropriate height of the adjustment groove, and tighten the locking nut to the external thread of the positioning block to fix the positioning block in the adjustment groove. The external threads at both ends of the aluminum tube are tightened with the locking nut to lock and fix the aluminum tube to the connecting plates on both sides, preventing the aluminum tube from moving left and right. When the wall-climbing robot has a built-in height adjustment function and does not need to adjust the height of the textured plate through the connecting mechanism, the aluminum tube passes through the positioning block, the connecting holes on the connecting plate, and the locking nut. The installation method is the same as above. The support mechanism includes a support plate, which has several sets of power mechanism connection holes connected to the power mechanism, several sets of connection mechanism connection holes connected to the connection mechanism, a distance sensor, and several hollow weight reduction holes. Each set of power mechanism connection holes has an arc hole that matches the power mechanism. The connection mechanism connection holes are through holes, corresponding to the threaded holes at the bottom of the connection mechanism connection plate. The distance sensor is used to detect the distance from the sensor to the brushing plate in real time. When the brushing plate is not in contact with the working wall, the distance is a constant value. Adjusting the connection mechanism to press down, i.e., adjusting the height of the aluminum tube in the adjustment groove, reduces the distance from the support plate to the wall. When the brushing plate contacts the wall, the distance decreases as the pressure continues. The mating mechanism includes a connecting back plate. One side of the connecting back plate is fixed to the wall-climbing robot by bolts, and the other side is fixed to two aluminum tube supports that mate with aluminum tubes. The bottom of the connecting back plate is rotatably connected to a pressure block via a rotating shaft. The inner side of the pressure block is provided with an arc groove that matches the aluminum tube for pressing the aluminum tube. The top of the connecting back plate is provided with a rotating shaft, and a rotating shaft rod is rotatably connected to the rotating shaft. One end of the rotating shaft rod is provided with a connecting hole for the rotating shaft, and the other end is provided with a locking thread for connecting with a plum nut. The top of the pressure block is provided with a rotating shaft rod receiving groove and a locking round block receiving groove. The rotating shaft rod passes through the inside of the locking round block and the locking thread is tightened by the plum nut, which, together with the locking round block, locks the pressure block.

2. The wall-climbing robot texturing device according to claim 1, characterized in that, The center of the brushing disc is provided with a threaded hole, and the end of the connecting shaft is provided with an external thread. The brushing disc is threadedly connected to the connecting shaft, and after tightening, it is reinforced with a fastening nut.

3. The wall-climbing robot texturing device according to claim 2, characterized in that, The abrasive filament is made of nylon filament filled with hard particles.

4. The wall-climbing robot texturing device according to claim 3, characterized in that, The power source for the power mechanism is electricity or compressed air.

5. The wall-climbing robot texturing device according to claim 4, characterized in that, The support mechanism can be equipped with multiple power mechanisms, which are connected to the support mechanism by bolts. The support mechanism can be increased or decreased according to the width of the roughening.

6. The wall-climbing robot texturing device according to claim 5, characterized in that, The rotating sleeve and the fixed flange are fixed together by four fastening bolts evenly distributed around the axis.

7. The wall-climbing robot texturing device according to claim 6, characterized in that, The method for manufacturing the textured surface plate is characterized by comprising the following steps: S1: Nylon is used as the matrix and 15-30% of silicon carbide particles with a diameter of 0.5-1.5mm are incorporated to make abrasive wire with a diameter of 1-3mm. Each abrasive wire is 60-100mm long. S2: Injection-molded disc with a standard nut embedded in its center. The internal thread mates with the connecting shaft of the power mechanism. The diameter is 150-250mm and the thickness is 15-20mm. S3: Make several concentric circles on the disk, with a diameter of 5-8mm and a depth of 70-80% of the disk thickness; S4: The abrasive wires prepared in S1 are implanted into the disc using a filament implantation machine; S5: Trim the grinding wires of S4 to make them of uniform length, with 35-45mm of the exposed portion of the disc.

8. A method of using the wall-climbing robot texture-removing device according to any one of claims 1-7, characterized in that, Includes the following steps: S1: To ensure the quality of the napping, multiple napping trays should be staggered when working together. The overlap should be 10-40% of the diameter. The distance between the two dotted lines that pass through the center of the circle vertically is the diameter of the napping tray minus the overlap. The distance between the centers of the napping trays should be 105-115% of the diameter. S2: Determine the number of napping trays based on the napping width. Let the napping width be w, the napping tray diameter be d, the number of napping trays be n, and the overlap be m. w = d × nm × (n-1). S3: The length of the support mechanism is w+d×3, and the width is 120-160% of the diameter of the sizing plate. Non-support parts can be hollowed out to reduce weight. Circular holes are opened at the design positions of the sizing plate so that the power mechanism can pass through smoothly. S4: The power mechanism is connected to the support mechanism by bolts; S5: The connecting shaft between the brushing disc and the power mechanism is connected by a thread. After tightening, it is reinforced with a fastening nut to prevent it from falling off. S6: The connecting mechanism connects to the wall-climbing robot. If the wall-climbing robot has a lifting device, the distance between the textured plate and the wall can be directly adjusted. Otherwise, it can be adjusted through the adjustment groove. After the textured plate is in contact with the wall, it continues to press down for half of the textured stroke. This distance can be measured by the distance sensor and transmitted to the control terminal of the wall-climbing robot in real time. The textured stroke is the maximum distance that the textured plate can move elastically along the axial direction. S7: Turn on the rotating motor, and the wall-climbing robot moves in the direction where the texturing device is not installed to perform the texturing operation.

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