A multi-directional adaptive grinding device and grinding method for a wall-climbing robot

Abstract

The present invention relates to a multi-directional adaptive grinding device and grinding method for a wall-climbing robot. The multi-directional adaptive grinding device includes a magnetic moving mechanism of the wall-climbing robot and an adaptive grinding mechanism. The magnetic moving mechanism of the wall-climbing robot can stably move on the surface of a steel mold. The adaptive grinding mechanism includes a grinding component and an adaptive adjustment component. The grinding component is connected to the magnetic moving mechanism of the wall-climbing robot through the adaptive adjustment component. The adaptive adjustment component can adjust the pitch angle and rotation angle of the grinding component according to the curvature and structure of the steel mold surface, and can adapt to the surface of the steel mold with multiple curvatures / variable curvatures; ensure that the grinding mechanism passes through and operates at recessed positions such as the filling window and the vibration window on the steel mold surface; and at the same time, ensure that the grinding mechanism passes through and operates at the protruding positions of the steps at the connection between the irregularly shaped concrete blocks and the side mold and top mold; ensure multiple operation routes such as horizontal, vertical, and oblique directions, and have multiple adaptive postures to improve the consistency of grinding.

Description

Technical Field

[0001] The present invention relates to the technical field of tunnel lining steel mold surface treatment, and in particular to a multi-directional adaptive grinding device and a grinding method for a wall-climbing robot. Background Art

[0002] The outer surfaces of steel formwork used for tunnel linings require regular grinding to remove rust and concrete to ensure surface smoothness and overall strength after demolding the tunnel wall concrete. Traditionally, these tasks are performed manually, resulting in numerous steps, low efficiency, and poor consistency. To address this need, research institutions and companies have developed a number of magnetically-assisted wall-climbing grinding robots capable of freely moving and grinding vertical curved steel formwork.

[0003] However, existing wall-climbing robot grinding technology has shortcomings. The steel mold surface is a complex surface with multiple curvatures, and traditional rigid grinding mechanisms have difficulty adapting to changing curved surfaces. The steel mold surface has recessed locations such as filling windows and vibration windows, and various irregularly shaped concrete blocks are attached to the surface. There are convex locations with steps at the connection between the side mold and the top mold, and traditional rigid grinding mechanisms have difficulty adapting to various types of concave and convex structures. The robot has multiple grinding routes on the steel mold surface, such as horizontal, vertical, and diagonal, and different routes require different grinding postures. Traditional rigid grinding mechanisms cannot produce appropriate grinding postures. The above shortcomings can cause problems such as missing positions and uneven grinding during robot grinding. In severe cases, they can hinder the robot's movement on the steel mold surface. An adaptive grinding mechanism is urgently needed to ensure the robot's grinding effect. Summary of the Invention

[0004] (1) Technical issues to be solved

[0005] In view of the above-mentioned shortcomings and deficiencies of the prior art, the present invention provides a multi-directional adaptive grinding device and grinding method for a wall-climbing robot.

[0006] (2) Technical solution

[0007] In order to achieve the above-mentioned object, the multi-directional adaptive grinding device for a wall-climbing robot of the present invention comprises:

[0008] A magnetic movement mechanism of the wall-climbing robot, which can stably move on the surface of the steel mold;

[0009] An adaptive grinding mechanism includes a grinding component and an adaptive adjustment component. The grinding component is connected to the magnetic movement mechanism of the wall-climbing robot through the adaptive adjustment component. The adaptive adjustment component can adjust the pitch angle and rotation angle of the grinding component according to the curvature and structure of the steel mold surface.

[0010] Optionally, the adaptive adjustment component includes a first control unit and a second control unit symmetrically arranged on both sides of the grinding component and a third control unit arranged between the first control unit and the second control unit. The first control unit, the second control unit and the third control unit are all connected to the magnetic suction movement mechanism of the wall-climbing robot; the first control unit and the second control unit both have telescopic, rotation and swinging functions, and the third control unit has rotation and swinging functions.

[0011] Optionally, the first control unit and the second control unit each include a universal joint, a mobile sub-joint and a ball hinge joint connected in sequence;

[0012] The universal joint is connected to the magnetic attraction movement mechanism of the wall-climbing robot, and the ball hinge joint is connected to the polishing assembly.

[0013] Optionally, the universal joint includes a first revolute joint, a rotary connector, and a second revolute joint, wherein the first revolute joint is provided on the magnetic attraction movement mechanism of the wall-climbing robot;

[0014] The first end of the rotary connection member is hinged to the first rotary joint, and the rotary connection member can rotate in the horizontal direction;

[0015] The second rotational secondary hinge is provided at the second end of the rotary connector, the mobile secondary joint is hinged to the second rotational secondary hinge, and the mobile secondary joint can swing in the vertical direction.

[0016] Optionally, the movable secondary joint is a gas spring hydraulic damper, and the gas spring hydraulic damper is connected to the ball hinge joint through a clamp.

[0017] Optionally, the third control unit includes a first revolute joint pair and a second revolute joint pair connected to each other, the first revolute joint pair is provided on the magnetic attraction movement mechanism of the wall-climbing robot, and the second revolute joint pair is connected to the polishing assembly;

[0018] The first revolute joint pair can rotate in a first vertical plane, and the second revolute joint pair can rotate in a second vertical plane. The first vertical plane and the second vertical plane are perpendicular to each other.

[0019] Optionally, the third control unit further includes an intermediate rotary connector, the intermediate rotary connector is connected to the first rotary joint pair, and the intermediate rotary connector is connected to the second rotary joint pair via a connecting arm.

[0020] Optionally, the multi-directional adaptive grinding device for the wall-climbing robot further includes a mounting plate, which is detachably arranged on a side of the magnetic moving mechanism of the wall-climbing robot, and the adaptive adjustment component is connected to the mounting plate.

[0021] Furthermore, the present invention also provides a multi-directional adaptive grinding method, which is applied to the multi-directional adaptive grinding device as described above;

[0022] The multi-directional adaptive grinding method includes grinding the surface of the steel mold along a first path, a second path, and a third path;

[0023] The first path extends along the circumferential direction of the steel mold surface, the second path extends along the steel mold surface in a direction parallel to the axial direction of the steel mold, and the third path extends along the helical direction of the steel mold surface.

[0024] Optionally, when the movable joints of the first control unit and the second control unit are at a preset initial length, the grinding assembly is in a horizontal position;

[0025] When the working path is the first path, when the movable joints of the first control unit and the second control unit are simultaneously controlled to extend, the grinding assembly rotates downward and is in a depressed position; when the movable joints of the first control unit and the second control unit are simultaneously controlled to contract, the grinding assembly rotates upward and is in an elevated position;

[0026] When the working path is the second path or the third path, the length of the mobile joint of the first control unit or the second control unit is adjusted separately; if the length of the mobile joint of the first control unit is greater than the length of the mobile joint of the second control unit, the grinding group will deflect toward the first control unit by a certain angle;

[0027] If the length of the mobile sub-joint of the first control unit is smaller than the length of the mobile sub-joint of the second control unit, the grinding group will deflect toward the second control unit by a certain angle.

[0028] (3) Beneficial effects

[0029] The multi-directional adaptive grinding device for a wall-climbing robot of the present invention has adaptive adjustment functions in pitch and rotation directions, and can adapt to steel mold surfaces with multiple curvatures / variable curvatures; it ensures that the grinding mechanism passes through and operates at recessed positions such as filling windows and vibration windows on the steel mold surface; at the same time, it can ensure that the grinding mechanism passes through and operates at protruding positions of irregularly shaped concrete blocks and side mold and top mold connections; it ensures multiple operating routes such as horizontal, vertical, and oblique directions, and has multiple adaptive postures to improve grinding consistency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 Schematic diagram of the structure of the multi-directional adaptive grinding device for a wall-climbing robot of the present invention;

[0031] Figure 2 Schematic diagram of the adaptive adjustment component of the multi-directional adaptive grinding device for a wall-climbing robot of the present invention;

[0032] Figure 3 Schematic diagram of the structure of the adaptive grinding mechanism of the multi-directional adaptive grinding device for a wall-climbing robot of the present invention;

[0033] Figure 4 A schematic diagram of a grinding path of the multi-directional adaptive grinding device for a wall-climbing robot according to the present invention;

[0034] Figure 5 Schematic diagram of the multi-directional adaptive grinding device for a wall-climbing robot of the present invention in a horizontal position;

[0035] Figure 6 Schematic diagram of the multi-directional adaptive grinding device for a wall-climbing robot of the present invention in a downward pressing position;

[0036] Figure 7 A schematic diagram of the multi-directional adaptive grinding device for a wall-climbing robot according to the present invention in an upwardly raised position;

[0037] Figure 8 Schematic diagram of the multi-directional adaptive grinding device for a wall-climbing robot of the present invention in a horizontal position;

[0038] Figure 9 Schematic diagram of the multi-directional adaptive grinding device for a wall-climbing robot according to the present invention in a left oblique position;

[0039] Figure 10 Schematic diagram of the multi-directional adaptive grinding device for a wall-climbing robot according to the present invention in a right oblique position;

[0040] Figure 11 This is a graph of elastic force test data of the gas spring hydraulic damper of the multi-directional adaptive grinding device for the wall-climbing robot of the present invention under different air pressures.

[0041] [Description of Reference Numerals]

[0042] Ⅰ: Multi-directional adaptive grinding device; Ⅱ: Magnetic movement mechanism of wall-climbing robot; Ⅲ: Adaptive grinding mechanism;

[0043] A: first path; B: second path; C: third path;

[0044] U1: left universal joint; P1: left mobile joint; S1: left ball hinge joint;

[0045] U2: right universal joint; P2: right mobile joint; S2: right ball hinge joint;

[0046] R1: first revolute joint pair; R2: second revolute joint pair;

[0047] U1-a: the first revolute joint on the left; U1-b: the second revolute joint on the left;

[0048] U2-a: the first revolute joint on the right side; U2-b: the second revolute joint on the right side;

[0049] 1: Mounting plate;

[0050] 2-1: Left swivel connector; 2-2: Right swivel connector;

[0051] 3-1: Left gas spring hydraulic damper; 3-2: Right gas spring hydraulic damper;

[0052] 4-1: left side clamp; 4-2: right side clamp;

[0053] 5: Middle rotary connector;

[0054] 6: Polish the components. DETAILED DESCRIPTION

[0055] In order to better explain the present invention and facilitate understanding, the present invention is described in detail below with reference to the accompanying drawings and through specific embodiments. Figure 1 The orientation is referenced.

[0056] Although exemplary embodiments of the present invention are shown in the accompanying drawings, it should be understood that the present invention can be implemented in various forms and should not be limited by the embodiments set forth herein. On the contrary, these embodiments are provided to enable a clearer and more thorough understanding of the present invention and to fully convey the scope of the present invention to those skilled in the art.

[0057] like Figure 1-3 As shown, the present invention provides a multi-directional adaptive grinding device for a wall-climbing robot. This device utilizes magnetic attraction to enable the robot to freely move and perform grinding operations on vertical curved steel molds. The multi-directional adaptive grinding device for the wall-climbing robot includes a magnetic movement mechanism II and an adaptive grinding mechanism III. The magnetic movement mechanism II includes a magnetic movement module, specifically a magnetic attraction module and a magnetic wheel drive module, enabling the robot's magnetic movement mechanism II to move stably on the steel mold surface.

[0058] The adaptive grinding mechanism III includes a grinding assembly 6 and an adaptive adjustment assembly. The grinding assembly 6 is connected to the wall-climbing robot's magnetic movement mechanism II through the adaptive adjustment assembly to grind the steel mold surface, quickly removing surface rust and adhered concrete blocks. The adaptive adjustment assembly can passively adjust the pitch angle and rotation angle of the grinding assembly 6 according to the curvature and structure of the steel mold surface. Figure 7 and Figure 8 On the one hand, the adaptive adjustment component adjusts the pitch of the grinding component 6 to adapt to the circumferential curvature of the steel mold surface. The grinding component 6 can always fit the steel mold surface. The grinding component 6 has the adaptive adjustment function of pitch motion in the sagittal plane. Figure 10 and 11 On the other hand, the adaptive adjustment component adjusts the pitch and rotation angles of the grinding assembly 6 in real time to adapt to changes in the curvature of the steel mold surface in the direction parallel to the steel mold's axis and in the direction of the helical line, ensuring that the grinding assembly 6 always conforms to the steel mold surface. The grinding assembly 6 has an adaptive adjustment function for rotational motion within the coronal plane. At the same time, when passing through and working on recessed locations on the steel mold surface, such as filling windows and vibration windows, or when passing through and working on irregularly shaped concrete blocks or stepped protrusions at the junction of side and top molds, the adaptive adjustment component adjusts the pitch and rotation angles of the grinding assembly 6, enabling the grinding assembly 6 to conform to the surface and be lifted to avoid obstacles.

[0059] The multi-directional adaptive grinding device for a wall-climbing robot of the present invention has adaptive adjustment functions in pitch and rotation directions, and can adapt to steel mold surfaces with multiple curvatures / variable curvatures; it ensures that the grinding mechanism passes through and operates at recessed positions such as filling windows and vibration windows on the steel mold surface; at the same time, it can ensure that the grinding mechanism passes through and operates at protruding positions of irregularly shaped concrete blocks and side mold and top mold connections; it ensures multiple operating routes such as horizontal, vertical, and oblique directions, and has multiple adaptive postures to improve grinding consistency.

[0060] like Figure 1 and Figure 2As shown, the adaptive adjustment assembly includes a first control unit and a second control unit symmetrically arranged on either side of the grinding assembly 6, and a third control unit arranged between the first and second control units. The first, second, and third control units are all connected to the wall-climbing robot's magnetic motion mechanism II. The hinge points of the first and second control units on the grinding assembly 6 are not at the same level as the hinge point of the third control unit on the grinding assembly 6. The first and second control units both have telescopic, rotational, and swinging functions, while the third control unit has rotational and swinging functions. When the first and second control units are simultaneously extended and retracted, the grinding assembly 6 rotates about the hinge point of the third control unit on the grinding assembly 6, achieving pitch adjustment of the grinding assembly 6. When the first and second control units are individually extended and retracted, the grinding assembly 6 rotates about the hinge point of the third control unit on the wall-climbing robot's magnetic motion mechanism II, achieving rotation adjustment of the grinding assembly 6.

[0061] Among them, see Figure 2 , the first control unit and the second control unit each include a universal joint, a mobile sub-joint, and a ball hinge joint connected in sequence; the universal joint is connected to the magnetic attraction mobile mechanism II of the wall-climbing robot, and the ball hinge joint is connected to the grinding assembly 6. Furthermore, the universal joint includes a first rotating sub-hinge, a slewing connector, and a second rotating sub-hinge, and the first rotating sub-hinge is provided on the magnetic attraction mobile mechanism II of the wall-climbing robot. The first end of the slewing connector is hinged to the first rotating sub-hinge, and the slewing connector can rotate in the horizontal direction. The second rotating sub-hinge is provided at the second end of the slewing connector, and the mobile sub-joint is hinged to the second rotating sub-hinge, and the mobile sub-joint can swing in the vertical and horizontal directions.

[0062] Preferably, see Figure 3 The movable joint is a gas spring hydraulic damper, which is connected to the ball hinge joint via a clamp. Adjustment is performed through two gas spring hydraulic dampers, providing adaptive adjustment functions for pitch motion in the sagittal plane and rotational motion in the coronal plane. Under different internal air pressure conditions, it has different elastic characteristics, thus meeting the various grinding downforce requirements in actual operations. By varying the air pressure inside the gas spring hydraulic damper, different rebound forces and elastic coefficients can be achieved; at the same time, adjusting the air pressure difference between the two gas spring hydraulic dampers can change the rotational stiffness of the grinding assembly 6.

[0063] See also Figure 2The third control unit includes a revolute joint, which includes a first revolute joint pair and a second revolute joint pair that are connected to each other. The first revolute joint pair is arranged on the magnetic attraction moving mechanism II of the wall-climbing robot, and the second revolute joint pair is connected to the grinding assembly 6. There is a height difference between the hinge point of the revolute joint of the first control unit and the second control unit on the grinding assembly 6 and the hinge point of the second revolute joint pair on the grinding assembly 6. The first revolute joint pair can rotate in a first vertical plane, and the second revolute joint pair can rotate in a second vertical plane. The first vertical plane and the second vertical plane are perpendicular to each other. The third control unit also includes an intermediate rotary connector 5, which is connected to the first revolute joint pair. The intermediate rotary connector 5 is connected to the second revolute joint pair through a connecting arm, so that there is a certain gap between the grinding assembly 6 and the magnetic attraction moving mechanism II of the wall-climbing robot, which facilitates the pitch adjustment and rotation adjustment of the grinding assembly 6.

[0064] Specifically, see Figure 2 The adaptive adjustment component is mainly based on a UPS-RR-UPS parallel mechanism (U represents the universal joint, P represents the mobile sub-joint, S represents the ball hinge joint, and R represents the revolute sub-joint) to realize the two-degree-of-freedom motion of pitch and rotation. The adaptive adjustment component symmetrically sets up a pair of UPS kinematic chains: the left universal joint U1, the left mobile sub-joint P1 and the left ball hinge joint S1 constitute the left UPS kinematic chain; the right universal joint U2, the right mobile sub-joint P2 and the right ball hinge joint S2 constitute the right UPS kinematic chain. An RR kinematic chain consisting of a first revolute joint pair R1 and a second revolute joint pair R2 is set between the pair of UPS kinematic chains. For further information, see Figure 3 The left first rotating sub-hinge U1-a and the right first rotating sub-hinge U2-a are symmetrically arranged, and are respectively hinged to the left rotary connector 2-1 and the right rotary connector 2-2. The left rotary connector 2-1 and the left gas spring hydraulic damper 3-1 are hinged through the left second rotating sub-hinge U1-b, and the right rotary connector 2-2 and the right gas spring hydraulic damper 3-2 are hinged through the right second rotating sub-hinge U2-b. The left first rotating sub-hinge U1-a and the left second rotating sub-hinge U1-b work together to achieve Figure 4 The function of the left universal joint U1, the right first revolute joint U2-a and the right second revolute joint U2-b work together to achieve Figure 4 The function of the right universal joint U2. The left gas spring hydraulic damper 3-1 and the right gas spring hydraulic damper 3-2 can realize the contraction / extension movement, respectively realizing Figure 4The functions of the left and right mobile joints P1 and P2 are shown. The left clamp 4-1 is fixedly connected to the left gas spring hydraulic damper 3-1, and its end is hinged to the grinding assembly 6 via the left ball joint S1. The right clamp 4-2 is fixedly connected to the right gas spring hydraulic damper 3-2, and its end is hinged to the grinding assembly 6 via the right ball joint S2. The middle rotary connector 5 is hinged to the wall-climbing robot's magnetic movement mechanism II via the first rotary joint R1; the middle rotary connector 5 is hinged to the grinding assembly 6 via the second rotary joint R2.

[0065] like Figure 3 As shown, the multi-directional adaptive grinding device for a wall-climbing robot also includes a mounting plate 1, which is detachably attached to the side of the wall-climbing robot's magnetic movement mechanism II. The adaptive adjustment assembly is connected to the mounting plate 1 to facilitate the assembly and disassembly of the adaptive grinding mechanism III. Specifically, the left first revolute joint U1-a and the right first revolute joint U2-a are symmetrically arranged on the left and right sides of the mounting plate 1. The middle rotary connector 5 is articulated to the mounting plate 1 via a first revolute joint pair R1.

[0066] Compared with the active adaptive grinding system, the multi-directional adaptive grinding device for the wall-climbing robot does not require components such as actuators, sensors and control devices. It has a simpler structure, smaller overall size and weight, and is suitable for the narrow space between the tunnel and the steel formwork.

[0067] The present invention also provides a multi-directional adaptive grinding method, which includes applying the multi-directional adaptive grinding device I described above. The multi-directional adaptive grinding method includes grinding the surface of a steel mold along a first path A, a second path B, and a third path C; wherein the first path A extends along the circumference of the steel mold surface, the second path B extends along the steel mold surface in a direction parallel to the axial direction of the steel mold, and the third path C extends along the helical direction of the steel mold surface.

[0068] Furthermore, if Figure 5 As shown, when the movable joints of the first control unit and the second control unit are at a preset initial length, the grinding assembly 6 is in a horizontal position;

[0069] like Figure 4-Figure 7 As shown, when the working path is the first path A, the mobile sub-joints of the first control unit and the second control unit are adaptively extended at the same time according to the curvature of the steel mold surface. At this time, the grinding assembly 6 rotates downward and is in a downward position; when encountering an obstacle protruding from the steel mold surface, the mobile sub-joints of the first control unit and the second control unit are adaptively contracted, and the grinding assembly 6 rotates upward, and the grinding assembly 6 is in an upward position, so as to facilitate covering the protruding obstacle for grinding.

[0070] like Figures 8-10 As shown, when the working path is the second path B or the third path C, the moving pair of the first control unit or the second control unit is independently adaptively extended and retracted according to the change in the curvature of the steel mold surface; when the length of the moving pair joint of the first control unit is greater than the length of the moving pair joint of the second control unit, the grinding group will deflect a certain angle toward the side of the first control unit; when the length of the moving pair joint of the first control unit is less than the length of the moving pair joint of the second control unit, the grinding group will deflect a certain angle toward the side of the second control unit.

[0071] This invention is applied to the surface of variable-curvature steel molds for tunnel linings, with multiple working paths, including longitudinal, transverse, and diagonal. It can achieve close-to-the-wall grinding of surfaces with small curvature radii and uniform grinding of surfaces with large curvature radii, with multiple adaptive postures to improve grinding consistency.

[0072] Specifically, in the first path A, the telescopic lengths of the left gas spring hydraulic damper 3 - 1 and the right gas spring hydraulic damper 3 - 2 are substantially equal.

[0073] like Figure 5 As shown, when the left gas spring hydraulic damper 3-1 and the right gas spring hydraulic damper 3-2 are at a preset initial length, the grinding assembly 6 is in a horizontal position;

[0074] like Figure 6 As shown, when the left gas spring hydraulic damper 3-1 and the right gas spring hydraulic damper 3-2 are extended to the same length at the same time, the adaptive grinding mechanism III rotates downward and the grinding assembly 6 is in the downward pressing position;

[0075] like Figure 7 As shown, when the left gas spring hydraulic damper 3-1 and the right gas spring hydraulic damper 3-2 are simultaneously contracted to the same length, the adaptive grinding mechanism III rotates upward, and the grinding assembly 6 is in an upward position, which can be used for obstacle avoidance.

[0076] In the second path B or the third path C, there will be a difference in the telescopic length of the left gas spring hydraulic damper 3 - 1 and the right gas spring hydraulic damper 3 - 2 .

[0077] like Figure 8 As shown, when the lengths of the left gas spring hydraulic damper 3-1 and the right gas spring hydraulic damper 3-2 are equal, the grinding assembly 6 is in a horizontal position;

[0078] like Figure 9 As shown, the length of the left gas spring hydraulic damper 3-1 is greater than the length of the right gas spring hydraulic damper 3-2, and the adaptive grinding mechanism III rotates to the left, and the grinding assembly 6 is in a left oblique position;

[0079] like Figure 10As shown, the length of the left gas spring hydraulic damper 3-1 is smaller than the length of the right gas spring hydraulic damper 3-2, the adaptive grinding mechanism III rotates to the right, and the grinding assembly 6 is in a right oblique position.

[0080] In the description of the present invention, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood to indicate or imply relative importance or implicitly specify the number of the technical features indicated. Therefore, a feature specified as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of the present invention, "plurality" means two or more, unless otherwise specifically defined.

[0081] In the present invention, unless otherwise expressly specified or limited, the terms "mounted," "connected," "connect," "fixed," etc. should be understood broadly. For example, they may refer to fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; and internal communication between two components or interaction between two components. Those skilled in the art will understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0082] In the present invention, unless otherwise expressly specified or limited, when a first feature is "above" or "below" a second feature, it may mean that the first and second features are in direct contact, or that the first and second features are in indirect contact through an intermediate medium. Furthermore, when a first feature is "above," "above," or "above" a second feature, it may mean that the first feature is directly above or obliquely above the second feature, or simply means that the first feature is at a higher level than the second feature. When a first feature is "below," "below," or "below" a second feature, it may mean that the first feature is directly below or obliquely below the second feature, or simply means that the first feature is at a lower level than the second feature.

[0083] In the description of this specification, the terms "one embodiment", "some embodiments", "embodiments", "examples", "specific examples" or "some examples" refer to the specific features, structures, materials or characteristics described in conjunction with the embodiment or example and included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or more embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine different embodiments or examples described in this specification and features of different embodiments or examples, unless they are mutually inconsistent.

[0084] Although the embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and are not to be construed as limitations on the present invention. A person skilled in the art may alter, modify, replace and modify the above embodiments within the scope of the present invention.

Claims

1. A multi-directional adaptive grinding device for a wall-climbing robot, characterized in that: The multi-directional adaptive grinding device for a wall-climbing robot comprises: A magnetic movement mechanism of the wall-climbing robot, which can stably move on the surface of the steel mold; An adaptive grinding mechanism, comprising a grinding assembly and an adaptive adjustment assembly, wherein the grinding assembly is connected to the magnetic movement mechanism of the wall-climbing robot via the adaptive adjustment assembly, and the adaptive adjustment assembly is capable of adjusting the pitch angle and rotation angle of the grinding assembly according to the curvature and structure of the steel mold surface; The adaptive adjustment component includes a first control unit and a second control unit symmetrically arranged on both sides of the polishing component, and a third control unit arranged between the first control unit and the second control unit. The first control unit, the second control unit and the third control unit are all connected to the magnetic suction movement mechanism of the wall-climbing robot; the first control unit and the second control unit both have telescopic, rotation and swinging functions, and the third control unit has rotation and swinging functions.

2. The multi-directional adaptive grinding device for a wall-climbing robot according to claim 1, characterized in that: The first control unit and the second control unit each include a universal joint, a mobile sub-joint and a ball hinge joint connected in sequence; The universal joint is connected to the magnetic attraction movement mechanism of the wall-climbing robot, and the ball hinge joint is connected to the polishing assembly.

3. The multi-directional adaptive grinding device for a wall-climbing robot according to claim 2, characterized in that: The universal joint includes a first revolving joint, a rotary connector, and a second revolving joint, wherein the first revolving joint is provided on the magnetic attraction movement mechanism of the wall-climbing robot; The first end of the rotary connection member is hinged to the first rotary joint, and the rotary connection member can rotate in the horizontal direction; The second rotational secondary hinge is provided at the second end of the rotary connector, the mobile secondary joint is hinged to the second rotational secondary hinge, and the mobile secondary joint can swing in the vertical direction.

4. The multi-directional adaptive grinding device for a wall-climbing robot according to claim 3, characterized in that: The movable joint is a gas spring hydraulic damper, and the gas spring hydraulic damper is connected to the ball hinge joint through a clamp.

5. The multi-directional adaptive grinding device for a wall-climbing robot according to claim 1, characterized in that: The third control unit includes a first revolute joint pair and a second revolute joint pair connected to each other, the first revolute joint pair is provided on the magnetic attraction movement mechanism of the wall-climbing robot, and the second revolute joint pair is connected to the grinding assembly; The first revolute joint pair can rotate in a first vertical plane, and the second revolute joint pair can rotate in a second vertical plane. The first vertical plane and the second vertical plane are perpendicular to each other.

6. The multi-directional adaptive grinding device for a wall-climbing robot according to claim 5, characterized in that: The third control unit further includes an intermediate rotary connector connected to the first rotary joint pair, and the intermediate rotary connector is connected to the second rotary joint pair via a connecting arm.

7. The multi-directional adaptive grinding device for a wall-climbing robot according to claim 1, characterized in that: The multi-directional adaptive grinding device for the wall-climbing robot also includes a mounting plate, which is detachably arranged on the side of the magnetic attraction movement mechanism of the wall-climbing robot, and the adaptive adjustment component is connected to the mounting plate.

8. A multi-directional adaptive grinding method, characterized in that: The multi-directional adaptive grinding method uses the multi-directional adaptive grinding device according to any one of claims 2 to 6; The multi-directional adaptive grinding method includes grinding the surface of the steel mold along a first path, a second path, and a third path; The first path extends along the circumferential direction of the steel mold surface, the second path extends along the steel mold surface in a direction parallel to the axial direction of the steel mold, and the third path extends along the helical direction of the steel mold surface.

9. The multi-directional adaptive grinding method according to claim 8, characterized in that: When the movable joints of the first control unit and the second control unit are at a preset initial length, the grinding assembly is in a horizontal position; When the working path is the first path, the movable joints of the first control unit and the second control unit are adaptively extended simultaneously according to the curvature of the steel mold surface, and the grinding assembly rotates downward, and the grinding assembly is in a downward position; when encountering an obstacle protruding from the steel mold surface, the movable joints of the first control unit and the second control unit are adaptively contracted, and the grinding assembly rotates upward, and the grinding assembly is in an upward position; When the working path is the second path or the third path, the mobile joint of the first control unit or the second control unit independently adapts to the extension and contraction according to the single change of the curvature of the steel mold surface; When the length of the mobile sub-joint of the first control unit is greater than the length of the mobile sub-joint of the second control unit, the grinding group will deflect a certain angle toward the side of the first control unit; when the length of the mobile sub-joint of the first control unit is less than the length of the mobile sub-joint of the second control unit, the grinding group will deflect a certain angle toward the side of the second control unit.

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