Self-adaptive constant-force grinding mechanism, wall-climbing robot control method and wall-climbing robot

Abstract

The invention discloses a self-adaptive constant-force grinding mechanism, a wall-climbing robot control method and a wall-climbing robot, the wall-climbing robot comprises a chassis assembly and an electric control system, the wall-climbing robot is characterized in that the chassis assembly is provided with a support, and the grinding mechanism comprises a grinding assembly, the support hinged to the chassis assembly, a grinding driving unit and a grinding piece; the grinding driving unit is used for driving the grinding piece to grind the target operation wall surface; the dust removal assembly is connected to the polishing assembly and used for cleaning sundries generated when the polishing assembly polishes the target operation wall face; the constant force module is connected to the grinding assembly and the chassis assembly and used for adjusting the force, acting on the target operation wall face, of the grinding assembly according to the grinding requirement and keeping the grinding constant force under all postures of the wall-climbing robot.

Description

Technical Field

[0001] The present invention relates to the technical field of wall-climbing robots, and in particular to an adaptive constant-force grinding mechanism. In addition, the present invention also relates to a control method of a wall-climbing robot and a wall-climbing robot using the adaptive constant-force grinding mechanism. Background Art

[0002] Steel structures are widely used in many industries, such as aviation, construction, underground engineering construction, etc. However, these steel structures not only have flat structures, but also cylindrical steel structures with different curvatures. The surfaces of these steel structures often have defects such as rust, burrs, welding marks, etc., and need to be polished to improve the appearance quality and functionality. Especially for the steel film polishing of the secondary lining trolley of tunnel construction in the current underground engineering.

[0003] Grinding is a type of surface modification technology. It generally refers to a processing method that uses rough objects to change the physical properties of the material surface through friction. The main purpose is to obtain a specific surface roughness. However, traditional manual grinding relies on workers to apply pressure by hand. Due to mechanical vibration and human physical limitations, the grinding pressure cannot be kept constant. Some grinding tools based on automated design cannot achieve real-time flexible constant force grinding due to problems such as accuracy, pressure, and flexibility.

[0004] At the same time, the existing technology also has the following shortcomings:

[0005] Although the existing wall-climbing grinding mechanism can adapt to the cylindrical steel structure surface with different curvatures to achieve crawling, when the curvature changes, the contact pressure between the grinding head and the wall surface is different, and it cannot be self-adaptive, so the grinding effect of different parts of the wall surface varies greatly. For example, the wall-climbing robot disclosed in patent number: CN202211487540.8 can crawl on the surface of the cylindrical steel structure, but the grinding force changes with the change of posture, and the grinding effect is unstable;

[0006] The existing wall climbing grinding mechanism is mainly based on mechanical arm grinding devices or fixed grinding devices, which have great defects, such as the mechanical arm structure is complex, difficult to control and has a high failure rate, and the fixed grinding device has poor flexibility and cannot achieve accurate grinding and rust removal, etc. The radial constant force grinding mechanism in the inner cavity of the cylinder disclosed in Publication No.: CN116533076A and the automatic aircraft paint grinding equipment disclosed in Publication No.: CN113043143A both use pressure sensors to measure the grinding force and adjust it to achieve constant force. In actual application, the fluctuation is large, the sensor accuracy and sensitivity are high, the constant force stability is poor, and it is easy to fail, and the actual application effect is not good. Summary of the invention

[0007] The present invention provides an adaptive constant force grinding mechanism, a wall-climbing robot control method and a wall-climbing robot, so as to solve the technical problem that the grinding mechanism in the prior art cannot realize the adaptive grinding force and relies on sensors to adjust the constant grinding force.

[0008] According to one aspect of the present invention, an adaptive constant force grinding mechanism is provided, which is applied to a wall-climbing robot. The wall-climbing robot includes a chassis assembly and an electric control system. The chassis assembly is provided with a bracket. The grinding mechanism includes:

[0009] A grinding assembly, hinged to a bracket of the chassis assembly, includes a grinding drive unit and a grinding piece, wherein the grinding drive unit is used to drive the grinding piece to grind the target working wall surface;

[0010] A dust removal component, connected to the grinding component, for cleaning debris generated by the grinding component grinding the target working wall surface;

[0011] The constant force module is respectively connected to the grinding component and the chassis assembly, and is used to adjust the force of the grinding component acting on the target working wall surface according to the grinding requirements and to maintain the grinding constant force in various postures of the wall-climbing robot.

[0012] As a further improvement of the above technical solution, the grinding mechanism also includes a quick-change assembly arranged between the bracket and the chassis assembly, the quick-change assembly is fixedly connected to the chassis assembly, the quick-change assembly is detachably connected to the bracket, or the quick-change assembly is fixedly connected to the bracket, and the quick-change assembly is detachably connected to the chassis assembly.

[0013] As a further improvement of the above technical solution, the dust removal assembly includes a centrifugal fan and a filter connected to the centrifugal fan, and the bottom hole of the filter is arranged toward the grinding part; the centrifugal fan is connected to the grinding drive unit through a transmission assembly.

[0014] As a further improvement of the above technical solution, the chassis assembly includes a rotary drive unit and a magnetic wheel, and the magnetic wheel is used to be adsorbed on the target working wall surface and used to walk and / or turn on the target working wall surface under the drive of the rotary drive unit.

[0015] As a further improvement of the above technical solution, the bracket is provided with a first hinge point for hinged to the grinding assembly and a second hinge point for hinged to the constant force module; the constant force module includes a clamping assembly and a damping adjustment unit, the telescopic end of the damping adjustment unit is hinged to the second hinge point, the first end of the clamping assembly is hinged to the fixed end of the damping adjustment unit, the grinding assembly is provided with a third hinge point for hinged to the second end of the clamping assembly, and the damping adjustment unit is used to adjust the elastic coefficient according to the grinding requirements and thereby adjust the force of the grinding assembly acting on the target working wall.

[0016] On the other hand, there is also a control method for a wall-climbing robot, which uses the above-mentioned adaptive constant force grinding mechanism, and the grinding control method includes:

[0017] S1. Establish a mechanical coordinate system according to the required grinding constant force for mechanical analysis;

[0018] S2. Based on quasi-static balance, the relationship between the elastic force of the damping adjustment unit required to maintain balance in each position state is obtained by equivalently replacing the output force;

[0019] S3. Obtaining the range of the elastic coefficient of the damping adjustment unit according to the relationship of the required elastic force obtained in step S2;

[0020] S4. Matching the specification and / or model of the damping adjustment unit according to the range of the elastic coefficient of the damping adjustment unit obtained in step S3;

[0021] S5. Install the damping adjustment unit selected by step S4;

[0022] S6. Adjusting the elastic coefficient of the damping adjustment unit based on a relational expression related to the elastic coefficient of the damping adjustment unit according to the required constant grinding force.

[0023] As a further improvement of the above technical solution, before step S6, the grinding control method further includes:

[0024] A1. Classify the target working wall surfaces with different corrosion degrees;

[0025] A2. Carry out multiple test grinding operations on target working surfaces with different rust levels by matching different grinding constant forces;

[0026] A3. Match the size or range of the constant grinding force for each grade according to the grinding effect of step A2;

[0027] Step S6 also includes: matching the required grinding constant force according to the corrosion degree of the target working wall surface.

[0028] As a further improvement of the above technical solution, step S1 includes: establishing a mechanical coordinate system with a plane perpendicular to the axis of the first hinge point, the distance between the first hinge point and the third hinge point is h1, the distance between the first hinge point and the second hinge point is h2, the distance between the second hinge point and the third hinge point is x, and the extension line of the line connecting the third hinge point and the first hinge point is used as the intersection with the direction of action of the grinding constant force, and the distance between the first hinge point and the intersection point is L;

[0029] Step S2 includes: equivalently replacing the elastic force of the damping elastic unit to obtain the point O acting on the extension line of the line connecting the first hinge point and the second hinge point and the point B acting on the extension line of the line connecting the first hinge point and the third hinge point, the first hinge point is point A, and the moment balance at point O is obtained as f out L·sinθ=f g h1·sinθ, In the formula, f out is the required grinding constant force, f g To replace the equivalent force of the grinding constant force at point B, we can get from ΔABO∽ΔCBD: In the formula, f s is the elastic force of the damping elastic unit after equivalent replacement;

[0030] Step S3 includes: according to the relationship of step S2, f s It is linearly related to x, and the elastic coefficient must satisfy

[0031] Step S6 includes: according to the formula Adjust the elastic coefficient of the damping adjustment unit.

[0032] As a further improvement of the above technical solution, step S4 includes: using a DNM shock absorber with air pressure adjustment as a damping adjustment unit.

[0033] According to another aspect of the present invention, there is also provided a wall-climbing robot, which includes the above-mentioned adaptive constant-force grinding mechanism.

[0034] The present invention has the following beneficial effects:

[0035] The grinding mechanism is rotatably connected to the grinding component through a bracket arranged on the chassis assembly. During operation, the grinding parts in the grinding component are controlled to be pressed down to the working wall surface, and the grinding drive unit drives the grinding parts to grind the target working wall surface, thereby removing the rust on the target working wall surface. In the grinding process, the dust removal component cleans up the debris such as rust, iron filings and concrete residues attached to the surface of the steel mold generated by the grinding component on the target working wall surface, so as to prevent rust and iron filings from splashing and keep the working surface clean. By setting a constant force module to act on the grinding component, the force acting on the target working wall surface after the grinding component is pressed down can be adjusted according to the grinding requirements, and the grinding component can still keep the downward pressure flexibility of the grinding parts constant when the grinding posture changes with the travel position, thereby ensuring the consistency of the grinding effect and effectively improving the grinding efficiency and grinding accuracy.

[0036] In addition to the above-described purposes, features and advantages, the present invention has other purposes, features and advantages. The present invention will be further described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The drawings constituting a part of this application are used to provide a further understanding of the present invention. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0038] Figure 1 This is a schematic diagram of the grinding working condition of the existing wall-climbing robot;

[0039] Figure 2 The structure of the wall-climbing robot of the preferred embodiment of the present invention is shown in FIG. Figure 1 ;

[0040] Figure 3 The structure of the wall-climbing robot of the preferred embodiment of the present invention is shown in FIG. Figure 2 ;

[0041] Figure 4 It is a structural schematic diagram of a grinding mechanism of a wall-climbing robot according to a preferred embodiment of the present invention;

[0042] Figure 5 The mechanical analysis diagram of the preferred embodiment of the present invention is shown in FIG. Figure 1 ;

[0043] Figure 6 The mechanical analysis diagram of the preferred embodiment of the present invention is shown in FIG. Figure 2 .

[0044] Legend:

[0045] 1. Electronic control system 2. Chassis assembly 21. Bracket 3. Grinding mechanism 31. Quick-change assembly 311. Quick-change joint 32. Dust removal assembly 321. Centrifugal fan 322. Filter 33. Base 34. Grinding piece 35. Clamping assembly 36. Damping adjustment unit 37. Rubber cover 38. Grinding drive unit 39. Transmission assembly 4. Second hinge point 5. Third hinge point. DETAILED DESCRIPTION

[0046] The embodiments of the present invention are described in detail below with reference to the accompanying drawings. However, the present invention can be implemented in many different ways as defined and covered below.

[0047] Figure 2 The structure of the wall-climbing robot of the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Figure 3 The structure of the wall-climbing robot of the preferred embodiment of the present invention is shown in FIG. Figure 2 ; Figure 4 It is a structural schematic diagram of a grinding mechanism of a wall-climbing robot according to a preferred embodiment of the present invention; Figure 5 The mechanical analysis diagram of the preferred embodiment of the present invention is shown in FIG. Figure 1 ; Figure 6The mechanical analysis diagram of the preferred embodiment of the present invention is shown in FIG. Figure 2 .

[0048] like Figures 2 to 4 As shown, the adaptive constant force grinding mechanism 3 of this embodiment is applied to a wall-climbing robot. The wall-climbing robot includes a chassis assembly 2 and an electric control system 1. The chassis assembly 2 is provided with a bracket 21. The grinding mechanism 3 includes:

[0049] The grinding assembly is hinged to the bracket 21 of the chassis assembly 2, and includes a base 33 used as a structural support, a grinding drive unit 38 for providing drive, and a grinding piece 34 for grinding the wall surface. The grinding drive unit 38 drives the grinding piece 34 to grind the target working wall surface; the grinding piece 34 can be a cylindrical wire brush;

[0050] The dust removal component 32 is connected to the grinding component and is used to clean up the debris generated by the grinding component grinding the target working wall surface;

[0051] The constant force module is connected to the grinding component and the chassis assembly 2 respectively, and is used to adjust the force of the grinding component acting on the target working wall according to the grinding requirements and to maintain the grinding constant force in various postures of the wall-climbing robot.

[0052] Among them, the chassis assembly 2 and the electronic control system 1 of the wall-climbing robot are implemented with reference to the wall-climbing robot of the prior art, such as the wall-climbing robot disclosed in Patent No.: CN202211487540.8, which can walk and turn on the target working wall surface, i.e., the steel mold surface, and this embodiment will not elaborate on it in detail;

[0053] It can be understood that the grinding mechanism 3 is rotatably connected to the grinding assembly through the bracket 21 set on the chassis assembly 2. During operation, the grinding piece 34 in the grinding assembly is controlled to be pressed down to the working wall surface, and the grinding drive unit 38 drives the grinding piece 34 to grind the target working wall surface, thereby removing the rust on the target working wall surface. During the grinding process, the dust removal assembly 32 cleans up the debris such as rust, iron filings and concrete residues attached to the surface of the steel mold generated by the grinding of the target working wall surface by the grinding assembly, so as to prevent rust and iron filings from splashing and keep the working surface clean. By setting a constant force module to act on the grinding assembly, the force acting on the target working wall surface after the grinding assembly is pressed down can be adjusted according to the grinding requirements, and the grinding assembly can still keep the pressure flexibility of the grinding piece 34 constant when changing the grinding posture with the travel position, thereby ensuring the consistency of the grinding effect and effectively improving the grinding efficiency and grinding accuracy.

[0054] Furthermore, the bracket 21 is provided with a first hinge point (located in the middle of the bracket 21, not shown in the figure) for being hinged to the grinding assembly and a second hinge point 4 for being hinged to the constant force module; the constant force module includes a clamping assembly 35 and a damping adjustment unit 36, the telescopic end of the damping adjustment unit 36 ​​is hinged to the second hinge point 4, the first end of the clamping assembly 35 is hinged to the fixed end of the damping adjustment unit 36, the grinding assembly is provided with a third hinge point 5 for being hinged to the second end of the clamping assembly 35, and the damping adjustment unit 36 ​​is used to adjust the elastic coefficient according to the grinding requirements and thus adjust the force of the grinding assembly acting on the target working wall surface; it should be understood that the arrangement between the axis of the first hinge point, the axis of the second hinge point 4, and the axis of the third hinge point 5 should be triangular rather than located on the same straight line, so as to ensure that the damping adjustment unit 36 ​​effectively acts on the grinding assembly; by arranging the clamping assembly 35 and the damping adjustment unit 36 ​​to form a connecting rod spring constant force system and based on the position allocation of each hinge point, it is possible to achieve the desired effect without changing the existing grinding assembly and the bottom The installation of the damping adjustment unit 36 ​​and the change of the action angle and the action position of the damping adjustment unit 36 ​​are realized when the structure is arranged between the disk assemblies 2, so as to achieve the required damping effect and have a relatively compact structure; as the wall-climbing robot moves at different positions, the position of the grinding assembly based on the swinging and pressing of the first hinge point will change, resulting in a change in the force acting on the working wall surface, and the damping adjustment unit 36 ​​can be driven by the clamping assembly 35 to extend and retract as the grinding assembly swings, thereby changing the force acting on the grinding assembly, so that the grinding assembly has the same grinding constant force in each posture, thereby ensuring the grinding effect and grinding accuracy of the target working wall surface; in this embodiment, the damping adjustment unit 36 ​​and the clamping assembly 35 are connected based on the above-mentioned connection method to form a connecting rod type elastic constant force system, and the constant force output is provided based on a pure mechanical structure, with a simple structure, simple control and low failure rate. The elastic coefficient is adjusted to achieve the effect of adjusting the constant force, thereby adapting to the steel mold surface with different corrosion conditions and adapting to more working conditions.

[0055] It should be noted that the damping adjustment unit 36 ​​of this embodiment uses a DNM shock absorber, and the elastic coefficient is adjusted by adjusting the air pressure, and then adjusted to the required grinding constant force to adapt to different working conditions; the clamping assembly 35 is a clamp of a connecting rod structure, and its side facing the damping adjustment unit 36 ​​is arranged into a concave structure to form a space to accommodate the damping adjustment unit 36, further reducing space occupancy and avoiding structural interference, and it is easier to achieve the selection and layout of the preferred hinge positions in the structural design.

[0056] In one embodiment, the grinding mechanism 3 also includes a quick-change assembly 31 arranged between the bracket 21 and the chassis assembly 2, which includes a quick-change joint 311. The quick-change assembly 31 is fixedly connected to the chassis assembly 2, and the quick-change assembly 31 is detachably connected to the bracket 21, or the quick-change assembly 31 is fixedly connected to the bracket 21, and the quick-change assembly 31 is detachably connected to the chassis assembly 2. By setting the quick-change assembly 31 and the chassis assembly 2, they can be quickly disassembled or connected for assembly and maintenance.

[0057] In one embodiment, the dust removal assembly 32 includes a centrifugal fan 321 and a filter 322 connected to the centrifugal fan 321, and the bottom hole of the filter 322 is set toward the grinding piece 34; the centrifugal fan 321 is connected to the grinding drive unit 38 through the transmission assembly 39, that is, the grinding drive unit 38 drives the centrifugal fan 321 and the grinding piece 34 to rotate synchronously, and the transmission assembly 39 can be a synchronous belt.

[0058] In order to prevent debris from splashing, a rubber cover 37 is installed around the grinding mechanism 3;

[0059] In one embodiment, the chassis assembly 2 includes a rotary drive unit and a magnetic wheel. The magnetic wheel is used to be adsorbed on the target working wall surface and to walk and / or turn on the target working wall surface under the drive of the rotary drive unit, so that the wall-climbing robot can move on the surface of the steel mold to drive the grinding component to perform grinding at various locations on the target working wall surface.

[0060] The control method of the wall-climbing robot of this embodiment uses the above-mentioned adaptive constant force grinding mechanism 3, and the grinding control method includes:

[0061] S1. Establish a mechanical coordinate system according to the required grinding constant force for mechanical analysis;

[0062] S2. Based on quasi-static balance, the relationship between the elastic force of the damping adjustment unit 36 ​​required to maintain balance in each position state is obtained by replacing the output force in an equivalent manner;

[0063] S3. Obtain the range of the elastic coefficient of the damping adjustment unit 36 ​​according to the relationship between the required elastic force obtained in step S2;

[0064] S4. The range of the elastic coefficient of the damping adjustment unit 36 ​​obtained in step S3 matches the specification and / or model of the damping adjustment unit 36;

[0065] S5. Install the damping adjustment unit 36 ​​selected by step S4;

[0066] S6. Adjust the elastic coefficient of the damping adjustment unit 36 ​​according to the required grinding constant force based on the relationship of the elastic coefficient of the damping adjustment unit 36, wherein the damping adjustment unit 36 ​​is preferably a DNM shock absorber based on air pressure regulation.

[0067] It can be understood that the damping adjustment unit 36 ​​performs mechanical analysis on the grinding mechanism 3, establishes a mechanical coordinate system based on the position of the axes of each hinge point on the same plane and the downward pressure of the grinding piece 34 for force analysis, and obtains the relationship between the elastic force required for the wall-climbing robot to maintain balance in various postures based on quasi-static equilibrium and by equivalently replacing the output force. Then, the required range of elastic coefficients can be obtained according to the relationship between the elastic force, and a damping adjustment unit 36 ​​that meets the requirements can be selected or manufactured in the prior art according to the range. In actual application, the elastic coefficient of the damping adjustment unit 36 ​​is adjusted according to the required grinding constant force matching, so as to ensure that the grinding mechanism 3 of the wall-climbing robot can provide a flexible grinding constant force that meets the requirements under the current working conditions. The implementation difficulty is low, and it can be realized based on the simple modification of the structure of the existing wall-climbing robot, and the position and adjustment of the grinding constant force are realized based on a purely mechanical structure. The control is simple, the stability is strong, and the cost is low.

[0068] Specifically, refer to Figure 5 and Figure 6 , step S1 includes: establishing a mechanical coordinate system with a plane perpendicular to the axis of the first hinge point, the distance between the first hinge point and the third hinge point is h1, the distance between the first hinge point and the second hinge point is h2, the distance between the second hinge point and the third hinge point is x, and the extension line of the line connecting the third hinge point and the first hinge point is used as the intersection with the direction of the grinding constant force, and the distance between the first hinge point and the intersection is L;

[0069] Step S2 includes: equivalently replacing the elastic force of the damping elastic unit to obtain the point O acting on the extension line of the line connecting the first hinge point and the second hinge point and the point B acting on the extension line of the line connecting the first hinge point and the third hinge point, the first hinge point is point A, and the moment balance at point O is obtained as f out L·sinθ=f g h1·sinθ, In the formula, f out is the required grinding constant force, f g To replace the equivalent force of the grinding constant force at point B, we can get from ΔABO∽ΔCBD: In the formula, f s is the elastic force of the damping elastic unit after equivalent replacement;

[0070] Step S3 includes: according to the relationship of step S2, f s It is linearly related to x, and the elastic coefficient must satisfy

[0071] Step S6 includes: according to the formula Adjusting the elastic coefficient of the damping adjustment unit;

[0072] Based on the above calculation method, the relationship between the elastic coefficient and the grinding constant force, the hinge layout position spacing, and the grinding part position can be obtained relatively simply and directly. The required grinding constant force can be obtained by adjusting the elastic coefficient of the damping adjustment unit according to the required grinding constant force, so that the wall-climbing robot can adapt to the grinding surface of different corrosion conditions.

[0073] Furthermore, before step S6, the grinding control method further includes:

[0074] A1. Classify the target working wall surfaces with different corrosion degrees;

[0075] A2. Carry out multiple test grinding operations on target working surfaces with different rust levels by matching different grinding constant forces;

[0076] A3. Match the size or range of the constant grinding force for each grade according to the grinding effect of step A2;

[0077] Step S6 also includes: matching the required grinding constant force according to the corrosion degree of the target working wall surface.

[0078] It can be understood that by grading the degree of rust on the surface of the steel mold and conducting trial grinding operations on the steel molds of each rust degree level, the grinding force required for each rust degree level can be matched according to the grinding effect after the test; in actual operation, the corresponding grinding constant force can be directly matched and adjusted to perform the operation, thereby improving the operation efficiency and grinding effect, and providing specific guiding significance for the formulation of relevant industry standards.

[0079] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. An adaptive constant force grinding mechanism (3), applied to a wall-climbing robot, the wall-climbing robot comprising a chassis assembly (2) and an electronic control system (1), characterized in that: The chassis assembly (2) is provided with a bracket (21), and the grinding mechanism (3) comprises: A grinding assembly, hinged to a bracket (21) of the chassis assembly (2), comprises a grinding drive unit (38) and a grinding piece (34), wherein the grinding drive unit (38) is used to drive the grinding piece (34) to grind the target working wall surface; A dust removal component (32) connected to the grinding component and used to clean up debris generated by the grinding component grinding the target working wall surface; The constant force module is connected to the grinding component and the chassis assembly (2) respectively, and is used to adjust the force of the grinding component acting on the target working wall surface according to the grinding requirements and to maintain the grinding constant force in various postures of the wall-climbing robot.

2. The adaptive constant force grinding mechanism (3) according to claim 1, characterized in that: The grinding mechanism (3) further comprises a quick-change assembly (31) arranged between the bracket (21) and the chassis assembly (2); the quick-change assembly (31) is fixedly connected to the chassis assembly (2), and the quick-change assembly (31) and the bracket (21) are detachably connected; or the quick-change assembly (31) is fixedly connected to the bracket (21), and the quick-change assembly (31) and the chassis assembly (2) are detachably connected.

3. The adaptive constant force grinding mechanism (3) according to claim 1, characterized in that: The dust removal component (32) comprises a centrifugal fan (321) and a filter (322) connected to the centrifugal fan (321), wherein a bottom hole of the filter (322) is arranged toward the grinding piece (34); the centrifugal fan (321) is connected to the grinding drive unit (38) via a transmission component (39).

4. The adaptive constant force grinding mechanism (3) according to claim 1, characterized in that: The chassis assembly (2) comprises a rotary drive unit and a magnetic wheel, wherein the magnetic wheel is used to be adsorbed on a target working wall surface and to move and / or turn on the target working wall surface under the drive of the rotary drive unit.

5. The adaptive constant force grinding mechanism (3) according to any one of claims 1 to 4, characterized in that: The bracket (21) is provided with a first hinge point for being hinged to the grinding component and a second hinge point (4) for being hinged to the constant force module; the constant force module comprises a clamping component (35) and a damping adjustment unit (36); the telescopic end of the damping adjustment unit (36) is hinged to the second hinge point (4); the first end of the clamping component (35) is hinged to the fixed end of the damping adjustment unit (36); the grinding component is provided with a third hinge point (5) for being hinged to the second end of the clamping component (35); the damping adjustment unit (36) is used to adjust the elastic coefficient according to the grinding requirements and thereby adjust the force of the grinding component acting on the target working wall surface.

6. A wall-climbing robot control method, characterized in that: The adaptive constant force grinding mechanism according to claim 5 is applied, and the grinding control method comprises: S1. Establish a mechanical coordinate system according to the required grinding constant force for mechanical analysis; S2. Based on quasi-static balance, the relationship between the elastic force of the damping adjustment unit required to maintain balance in each position state is obtained by equivalently replacing the output force; S3. Obtaining the range of the elastic coefficient of the damping adjustment unit according to the relationship of the required elastic force obtained in step S2; S4. Matching the specification and / or model of the damping adjustment unit according to the range of the elastic coefficient of the damping adjustment unit obtained in step S3; S5. Install the damping adjustment unit selected by step S4; S6. Adjusting the elastic coefficient of the damping adjustment unit based on a relational expression related to the elastic coefficient of the damping adjustment unit according to the required constant grinding force.

7. The wall-climbing robot control method according to claim 6, characterized in that: Before step S6, the polishing control method further includes: A1. Classify the target working wall surfaces with different corrosion degrees; A2. Carry out multiple test grinding operations on target working surfaces with different rust levels by matching different grinding constant forces; A3. Match the size or range of the constant grinding force for each grade according to the grinding effect of step A2; Step S6 also includes: matching the required grinding constant force according to the corrosion degree of the target working wall surface.

8. The wall-climbing robot control method according to claim 6, characterized in that: Step S1 includes: establishing a mechanical coordinate system with a plane perpendicular to the axis of the first hinge point, the distance between the first hinge point and the third hinge point is h1, the distance between the first hinge point and the second hinge point is h2, the distance between the second hinge point and the third hinge point is x, and the extension line of the line connecting the third hinge point and the first hinge point is used as the intersection with the direction of the polishing constant force, and the distance between the first hinge point and the intersection is L; Step S2 includes: equivalently replacing the elastic force of the damping elastic unit to obtain the point O acting on the extension line of the line connecting the first hinge point and the second hinge point and the point B acting on the extension line of the line connecting the first hinge point and the third hinge point, the first hinge point is point A, and the moment balance at point O is obtained as f out L·sinθ=f g h1·sinθ, In the formula, f out is the required grinding constant force, f g To replace the equivalent force of the grinding constant force at point B, we can get from ΔABO∽ΔCBD: In the formula, f s is the elastic force of the damping elastic unit after equivalent replacement; Step S3 includes: according to the relationship of step S2, f s It is linearly related to x, and the elastic coefficient must satisfy Step S6 includes: according to the formula Adjust the elastic coefficient of the damping adjustment unit.

9. The wall-climbing robot control method according to claim 6, characterized in that: Step S4 includes: using a DNM shock absorber with air pressure adjustment as a damping adjustment unit.

10. A wall-climbing robot, characterized in that: The invention relates to an adaptive constant force grinding mechanism according to any one of claims 1 to 5.

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