Wall surface operation method and device

Abstract

The invention provides a wall surface operation method and device.The wall surface operation method is applied to the device for wall surface operation, the device comprises a carrying mechanism, a traction mechanism and an operation mechanism, and at least part of the traction mechanism is borne on the carrying mechanism; the carrying mechanism is connected with the operation mechanism through the traction mechanism; the method comprises the steps that the carrying mechanism moves to a first carrying site along the wall surface; the traction mechanism drags the operation mechanism to move between a first operation site and a second operation site, and the first operation site and the second operation site are located on the side, close to the ground in the vertical direction, of the first carrying site; and the operation mechanism is used for cleaning the wall surface between the first operation site and the second operation site.

Description

Technical Field

[0001] The present application relates to the field of wall operations, and in particular, to a method and device for wall operations. Background Art

[0002] The surfaces of many large machines and equipment usually need to be maintained regularly, for example, cleaning, painting, rust removal, and repairing the surfaces of the machines and equipment. However, the surface maintenance of large machines and equipment is difficult and costly, especially when maintaining vertical or inclined walls on machines and equipment. The operating equipment is prone to slipping on the wall and deviating from the established operating route, making it difficult to achieve full coverage of the wall surface, resulting in unsatisfactory operating results. Therefore, how to improve the operating effect of wall surface maintenance is still a problem that needs to be solved. Summary of the invention

[0003] The present application provides a method and device for wall surface operations, which can effectively reduce the possibility of a cleaning device slipping on a surface to be cleaned and improve the cleaning effect.

[0004] In a first aspect, a device for wall surface operation is provided, comprising: a carrying mechanism, a traction mechanism and an operating mechanism, wherein at least a portion of the traction mechanism is carried on the carrying mechanism, and the carrying mechanism is connected to the operating mechanism via the traction mechanism; the carrying mechanism is used to move along the wall surface to a first carrying position; the traction mechanism is used to tow the operating mechanism to move between a first operating position and a second operating position, the first operating position and the second operating position being located on a side of the first carrying position close to the ground in a vertical direction; the operating mechanism is used to operate on the wall surface between the first operating position and the second operating position.

[0005] In a second aspect, a method for wall working is provided, which is applied to a device for wall working described in the first aspect, and the method comprises: the transport mechanism moves along the wall to a first transport position; the traction mechanism tows the working mechanism to move between the first working position and the second working position, and the first working position and the second working position are located on the side of the first transport position close to the ground in the vertical direction; the working mechanism operates on the wall between the first working position and the second working position.

[0006] On the one hand, the movement of the transport mechanism to a high position can provide a fulcrum for the pulling of the operating mechanism, replacing the manual operation mode of installing the fulcrum at a high position, thereby improving the safety factor of wall operations. On the other hand, the transport mechanism is fixed at the first transport position, and the operating mechanism is controlled to operate on a certain path by traction, which can effectively avoid the problem of the equipment being operated being prone to slipping during the operation, thereby ensuring that the operating mechanism operates on the established operation route, which is conducive to improving the operation effect.

[0007] In some embodiments, the method also includes: the transport mechanism moves from the first transport site to the second transport site along the wall, and the path direction between the first transport site and the second transport site is perpendicular to the path direction between the first working site and the second working site; the working mechanism moves from the second working site to the third working site, and the third working site is located on the side of the second transport site facing the ground in the vertical direction; the traction mechanism tows the working mechanism from the third working site to the fourth working site; the working mechanism operates on the wall between the third working site and the fourth working site.

[0008] The movement of the transport mechanism in a direction perpendicular to the operation path is conducive to expanding the operation range of the operation mechanism, achieving full coverage of the wall surface, and thus improving the operation effect.

[0009] In some embodiments, the operating mechanism operates on the wall surface between the third operating site and the fourth operating site, including: the operating mechanism operates on the wall surface between the third operating site and the fourth operating site along a first direction, and the first direction is the direction from the first operating site to the second operating site.

[0010] This can reduce the weight that the transport mechanism needs to bear during movement, reduce the possibility of the transport mechanism slipping during movement, and is conducive to precise control of the movement of the transport mechanism, thereby improving the overall operating effect.

[0011] In some embodiments, the operating mechanism is used to clean the wall surface, and the operating mechanism includes a cleaning brush plate and a first water pipe. The first water pipe is arranged on the side of the cleaning brush plate in the opposite direction of the first direction. The first direction is the direction from the first operating site to the second operating site.

[0012] This operating mechanism has a simple structure, is relatively light, and is not likely to impose excessive burden on the wall-climbing mechanism. It is conducive to achieving precise control of the wall-climbing mechanism and can improve cleaning efficiency and cleaning effect.

[0013] In some embodiments, the operating mechanism includes a first recovery portion, and the first recovery portion is arranged on a side of the first water pipe facing the ground in a vertical direction.

[0014] In this way, the cleaning wastewater can be collected while the operating mechanism cleans the wall surface along the first direction, thereby reducing the damage of the cleaning wastewater to the environment.

[0015] In some embodiments, the operating mechanism operates on the wall surface between the third operating site and the fourth operating site, including: the operating mechanism operates on the wall surface between the third operating site and the fourth operating site in the opposite direction of a first direction, and the first direction is the direction from the first operating site to the second operating site.

[0016] In this operation mode, the operating mechanism can always maintain a working state, and under the control of the traction mechanism, it operates on the wall surface back and forth in a "J" shape, which significantly improves the operation efficiency.

[0017] In some embodiments, the operating mechanism is used to clean the wall surface, and the operating mechanism includes a cleaning brush plate, a first water pipe and a second water pipe. The first water pipe is arranged on the side of the cleaning brush plate in the opposite direction of the first direction, and the second water pipe is arranged on the side of the cleaning brush plate along the first direction.

[0018] The structure of this operating mechanism can adapt to the cleaning operations of the operating mechanism in different directions, and realize the back and forth cleaning of the operating mechanism on the wall surface. While improving the cleaning efficiency, it can also improve the cleaning effect of the wall surface.

[0019] In some embodiments, the operating mechanism includes a first recovery part and a second recovery part, the first recovery part is arranged on the side of the first water pipe facing the ground in the vertical direction, and the second recovery part is arranged on the side of the second water pipe facing the ground in the vertical direction.

[0020] The structure of this operating mechanism can adapt to cleaning operations in different directions. No matter which direction the cleaning operation is carried out, there is a corresponding recovery mechanism to recover the wastewater generated during the cleaning process. This can improve the cleaning efficiency while effectively reducing the damage of the cleaning wastewater to the environment.

[0021] In some embodiments, the operating mechanism includes a flow guide pipe, which connects the first recovery part and the second recovery part.

[0022] This can save the materials required for the second recovery part to guide the sewage to the ground, and reduce the manufacturing cost of the operating mechanism without affecting the cleaning efficiency and cleaning effect.

[0023] In some embodiments, the operating mechanism is used to clean the wall surface, and the operating mechanism operates on the wall surface between the first operating position and the second operating position, including: the operating mechanism brushes the wall surface between the first operating position and the second operating position along a first direction, and the first direction is the direction from the first operating position to the second operating position; the operating mechanism flushes the wall surface between the first operating position and the second operating position along the opposite direction of the first direction.

[0024] In this way, during the scrubbing process, the cleaning liquid or the cleaning brush plate of the operating mechanism can fully contact the dirt on the wall surface, which is beneficial to improve the cleaning effect; at the same time, the flushing process can effectively remove the residual cleaning liquid and dirt on the wall surface, further improving the cleaning effect. At the same time, the operating mechanism can realize the continuous operation of the scrubbing and flushing process, improving the cleaning efficiency.

[0025] In some embodiments, the operating mechanism includes a cleaning brush disc; the operating mechanism flushes the wall surface between the first operating position and the second operating position along the opposite direction of the first direction, including: the cleaning brush disc flushes the wall surface between the first operating position and the second operating position along the opposite direction of the first direction.

[0026] In some embodiments, the operating mechanism includes a second water pipe, which is arranged on one side of the cleaning brush plate along the first direction; the operating mechanism flushes the wall between the first operating position and the second operating position along the opposite direction of the first direction, including: the second water pipe flushes the wall between the first operating position and the second operating position along the opposite direction of the first direction.

[0027] The arrangement of the cleaning brush plate and the second water pipe enables the operating mechanism to brush when it ascends in the first direction and to rinse when it descends in the opposite direction of the first direction, thereby improving the cleaning effect and cleaning efficiency.

[0028] In some embodiments, the operating mechanism includes a second recovery portion, and the second recovery portion is arranged on a side of the second water pipe facing the ground in the vertical direction.

[0029] The second recovery part can effectively recover the sewage generated during the cleaning process. There is no need to lay additional sewage collection devices around the wall, making the wall cleaning operation more convenient, thereby improving the cleaning efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0030] Figure 1 It is a schematic block diagram of a wall operation device provided in an embodiment of the present application.

[0031] Figure 2It is a schematic block diagram of a wall operation method provided in an embodiment of the present application.

[0032] Figure 3 It is a schematic block diagram of a method for performing wall cleaning by a wall operation device provided in an embodiment of the present application.

[0033] Figure 4 It is a schematic block diagram of another wall operation method provided in an embodiment of the present application.

[0034] Figure 5 It is a schematic block diagram of a method for performing wall cleaning by another wall operation device provided in an embodiment of the present application.

[0035] Figure 6 It is a structural schematic diagram of an operating mechanism provided in an embodiment of the present application.

[0036] Figure 7 It is a structural schematic diagram of another operating mechanism provided in an embodiment of the present application.

[0037] Figure 8 It is a schematic block diagram of another wall operation method provided in an embodiment of the present application.

[0038] Fig. 9 It is a structural schematic diagram of another operating mechanism provided in an embodiment of the present application.

[0039] Fig.10 It is a schematic block diagram of another wall operation method provided in an embodiment of the present application.

[0040] Fig.11 It is a schematic block diagram of a method for performing wall cleaning by another wall operation device provided in an embodiment of the present application.

[0041] Fig.12 It is a structural schematic diagram of another operating mechanism provided in an embodiment of the present application.

[0042] Fig.13 It is a structural schematic diagram of another operating mechanism provided in an embodiment of the present application. DETAILED DESCRIPTION

[0043] The following detailed description and drawings of the embodiments of the present application are used to illustrate the principles of the present application, but cannot be used to limit the scope of the present application, that is, the present application is not limited to the described embodiments.

[0044] In the description of the present application, it should be noted that the terms "upper", "lower", "left", "right", "inner", "outer", etc., indicating the orientation or positional relationship, are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present application. In addition, the terms "first", "second", "third", etc. are only used for descriptive purposes and cannot be understood as indicating or implying relative importance. "Vertical" is not strictly perpendicular, but within the tolerance range. "Parallel" is not strictly parallel, but within the tolerance range. All technical and scientific terms used in the present application have the same meaning as those generally understood by technicians in the technical field of the present application; the terms used in the present application and in the specification of the application are only for the purpose of describing specific embodiments, and are not intended to limit the present application; the terms "including" and "having" and any variations thereof in the specification and claims of the present application and the above-mentioned figure descriptions are intended to cover non-exclusive inclusions.

[0045] The directional words appearing in the following description are all directions shown in the figures, and do not limit the specific structure of this application. In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected or indirectly connected through an intermediate medium. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to the specific circumstances.

[0046] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0047] The term "and / or" in this application is only a description of the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent: A exists, A and B exist, and B exists. In addition, the character " / " in this application generally indicates that the associated objects before and after are in an "or" relationship.

[0048] The term "multiple" as used in the present application refers to more than two (including two). Similarly, "multiple groups" refers to more than two groups (including two groups), and "multiple sheets" refers to more than two sheets (including two sheets).

[0049] In the embodiments of the present application, the same reference numerals represent the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width and other dimensions of various components in the embodiments of the present application shown in the drawings, as well as the overall thickness, length, width and other dimensions of the integrated device are only exemplary descriptions and should not constitute any limitation to the present application.

[0050] The method and device for wall surface operation provided in the embodiment of the present application can be applied to surface maintenance work on planes or curved surfaces, and are particularly suitable for surface maintenance work on vertical, inclined or inaccessible walls. Specifically, it can be applied to surface maintenance work on equipment such as ship hulls, oil storage tanks, water storage tanks, bridges, high towers, and towers of wind turbines, and can also be applied to metal surface maintenance work on large industrial equipment (such as boilers, reactors, etc.). In the embodiment of the present application, wall surface operation may include maintenance work such as cleaning, painting, rust removal, and repairing on the surface of large mechanical equipment.

[0051] The embodiments of the present application do not limit the application scenarios and operation items of the method and device for wall surface operations, and only illustrate by taking the cleaning of the surface of a wind turbine tower as an example.

[0052] The embodiment of the present application provides a device for wall operation, Figure 1 A schematic block diagram of the device is shown in FIG. Figure 1 As shown, the device includes a transport mechanism 10 , a traction mechanism 20 and an operating mechanism 30 , at least a portion of the traction mechanism is carried on the transport mechanism, and the transport mechanism 10 is connected to the operating mechanism 30 via the traction mechanism 20 .

[0053] The transport mechanism 10 is used to move along the wall to the first transport position P1, the traction mechanism 20 is used to traction the working mechanism 30 to move from the first working position Q1 to the second working position Q2, and the working mechanism 30 is used to work on the wall between the first working position Q1 and the second working position Q2. The first working position Q1 and the second working position Q2 are located on the side of the first transport position P1 close to the ground in the vertical direction.

[0054] based on Figure 1 The present application provides a wall operation method 100, which is applied to Figure 1 The wall working device shown, Figure 2 A schematic block diagram of the method 100 is shown, as Figure 2 As shown, the method 100 includes at least some of the following steps.

[0055] S110 , the transport mechanism 10 moves along the wall to the first transport position P1 .

[0056] S120: The traction mechanism 20 tractions the working mechanism 30 to move between the first working site Q1 and the second working site Q2. The first working site Q1 and the second working site Q2 are located on one side of the first carrying site P1 close to the ground in the vertical direction.

[0057] S130 , the working mechanism 30 works on the wall surface between the first working point Q1 and the second working point Q2 .

[0058] Figure 3 A schematic block diagram of a method 100 for performing wall operation by a wall operation device is shown below. Figures 1 to 3 The solution provided in the embodiments of the present application is described.

[0059] The transport mechanism 10 refers to the part of the device for wall operation that can move on the wall. In some embodiments, the transport mechanism 10 can be provided with an adsorption module and a driving module. The adsorption module allows the transport mechanism 10 to be adsorbed on the working wall, and the driving module of the transport mechanism 10 drives the transport mechanism 10 to move on the wall to the first transport position P1. The adsorption module can be, for example, a magnetic adsorption module, which is adsorbed on the metal wall. In the process of operating the wall, the first transport position P1 can be, for example, a position on the wall away from the ground, providing a fulcrum for the traction of the operating mechanism 30 at a high place.

[0060] The traction mechanism 20 refers to the part connecting the carrier mechanism 10 and the working mechanism 30, and can pull the working mechanism 30 to move in a certain direction. In some embodiments, the traction mechanism 20 can be provided with a driving module and a traction rope, one end of the traction rope is connected to the working mechanism 30, and the other end is connected to the driving module of the traction mechanism 20, and the driving module of the traction mechanism 20 realizes the movement of the working mechanism 30 by controlling the retraction and release of the traction rope. In some embodiments, at least part of the traction mechanism 20 can be arranged inside the carrier mechanism 10, for example, the driving module of the traction mechanism 20 can be arranged inside the carrier mechanism 10, and move with the carrier mechanism 10 to the first carrying position P1, and the traction rope of the traction mechanism 20 extends from one side of the carrier mechanism 10, is connected to the working mechanism 30, and controls the position and movement direction of the working mechanism 30 at the first carrying position P1.

[0061] The operating mechanism 30 refers to the part of the device for wall operation that operates on the wall. In some embodiments, the operating mechanism 30 is used to clean the wall, and the operating mechanism 30 may include a cleaning brush disc 31, which can clean the oil, dust and other attachments on the wall; further, the operating mechanism 30 may include a cleaning liquid pipe, which sprays cleaning liquid onto the wall and / or the cleaning brush disc 31 to improve the cleaning effect of the wall; further, the operating mechanism 30 may include a water pipe, which performs high-pressure flushing on the cleaned area to further improve the cleaning effect of the wall.

[0062] Specifically, the traction mechanism 20 tractions the working mechanism 30 from the first working position Q1 to the second working position Q2. The first working position Q1 is the position of the working mechanism 30 before the wall working, that is, the starting point of the working path; the second working position Q2 is the position of the working mechanism 30 after the wall working for a period of time. The working mechanism 30 can work on the wall while moving between the first working position Q1 and the second working position Q2.

[0063] Take the wall operation device operating on a vertical wall as an example, refer to Figure 3 , Figure 3 (a) and (b) in the figure respectively show two different operation modes.

[0064] like Figure 3 As shown in (a), in the vertical direction, the second working position Q2 is located on the side of the first working position Q1 away from the ground. In this working mode, the working mechanism 30 can be placed at the first working position Q1, and only the transport mechanism 10 is controlled to move to the first transport position P1; when the transport mechanism 10 is located at the first transport position P1, the traction mechanism 20 tractions the working mechanism 30 along the first direction Y from the first working position Q1 to the second working position Q2 and performs the work, and the first direction Y is the opposite direction of the gravity direction.

[0065] like Figure 3 As shown in (b), in the vertical direction, the second working position Q2 is located on the side of the first working position Q1 close to the ground. In this working mode, the traction mechanism 20 connects the carrier mechanism 10 and the working mechanism 30, and while driving the carrier mechanism 10 to move toward the first carrier position P1, the working mechanism 30 can move together with the carrier mechanism 10. When the carrier mechanism 10 moves to the first carrier position P1, the working mechanism 30 also moves to the first working position Q1 at the same time. The traction mechanism 20 pulls the working mechanism 30 along the first direction Y from the first working position Q1 to the second working position Q2 and performs the work, and the first direction Y is the direction of gravity.

[0066] On the one hand, the movement of the transport mechanism 10 to a high place can provide a fulcrum for the pulling of the working mechanism 30, replacing the manual operation mode of installing the fulcrum at a high place, thereby improving the safety factor of wall operation. On the other hand, the transport mechanism 10 is fixed at the first transport position P1, and the working mechanism 30 is controlled to operate on a certain path by traction, which can effectively avoid the problem of the equipment being operated being easy to slip during the operation, thereby ensuring that the working mechanism 30 operates on the predetermined operation route, which is conducive to improving the operation effect.

[0067] According to some embodiments of the present application, another wall operation method 200 is optionally provided. In the embodiment of the present application, the first direction Y refers to the direction from the first operation site Q1 to the second operation site Q2, which can be the same as the gravity direction or the opposite direction of the gravity direction. The method 200 is only described by taking the first direction Y as the opposite direction of the gravity direction as an example, and the first direction Y is not limited.

[0068] like Figure 4 As shown, method 200 may include at least part of the following steps.

[0069] S201, the transport device 10 moves along the wall to the first transport position P1.

[0070] S202 , the traction mechanism 20 tractions the working mechanism 30 to move between the first working position Q1 and the second working position Q2 .

[0071] S203 , the operating mechanism 30 operates along the first direction Y on the wall surface between the first operating point Q1 and the second operating point Q2 .

[0072] S204, the transport mechanism 10 moves along the wall from the first transport site P1 to the second transport site P2, and the path direction between the first transport site P1 and the second transport site P2 is perpendicular to the path direction between the first operation site Q1 and the second operation site Q2;

[0073] S205, the operating mechanism 30 moves from the second operating position Q2 to the third operating position Q3, and the third operating position Q3 is located on the side of the second carrying position P2 facing the ground in the vertical direction;

[0074] S206, the traction mechanism 20 tractions the working mechanism 30 to move between the third working position Q3 and the fourth working position Q4;

[0075] S207 , the operating mechanism 30 operates along the first direction Y on the wall surface between the third operating position Q3 and the fourth operating position Q4 .

[0076] Among them, step S201 to step S202 are the same as step S110 to step S120 in method 100, and will not be repeated here.

[0077] In step S203, the operation mechanism 30 operates on the wall surface between the first operation site Q1 and the second operation site Q2, which can be specifically: the operation mechanism 30 operates on the wall surface between the first operation site Q1 and the second operation site Q2 along the first direction Y. That is, when the first direction Y is the opposite direction of the gravity direction, the operation mechanism 30 operates on the wall surface during the ascending process.

[0078] In step S204, Figure 5 A schematic block diagram showing a method 200 for performing the wall operation by the wall operation device is shown, combined with Figure 4 and Figure 5 , taking the case where the working mechanism 30 performs wall operation in the vertical direction as an example, the working mechanism 30 is towed by the towing mechanism 20, and the path direction between the first working position Q1 and the second working position Q2 is the vertical direction, that is, the working mechanism 30 always performs wall operation on the vertical path passing through the first carrying position P1. When other areas on the wall need to be operated, the carrying mechanism 10 moves in a direction perpendicular to the vertical direction, that is, from the first carrying position P1 to the second carrying position P2. In order to achieve full coverage of the operating area, the distance between the first carrying position P1 and the second carrying position P2 can be the width dimension of the range in which the working mechanism 30 can operate, and the direction of the width dimension is perpendicular to the vertical direction.

[0079] The movement of the transport mechanism 10 in a direction perpendicular to the operation path is beneficial to expanding the operation range of the operation mechanism 30, achieving full coverage of the wall operation, and thus improving the operation effect.

[0080] In step S205, when the transport mechanism 10 moves from the first transport site P1 to the second transport site P2, the operating mechanism 30 moves from the second operating site Q2 to the third operating site Q3 accordingly. The second operating site Q2 can be considered as the end point of the operating path corresponding to the first transport site P1, and the third operating site Q3 refers to the starting point of the operating path corresponding to the second transport site P2. The third operating site Q3 is located on the side of the second transport site P2 facing the ground in the vertical direction, and the line connecting the third operating site Q3 and the second transport site P2 is parallel to the vertical direction. In the process of moving from the second operating site Q2 to the third operating site Q3 under the traction of the traction mechanism 20, the operating mechanism 30 does not operate on the wall surface, so as to improve the moving efficiency of the operating mechanism 30.

[0081] When the operating mechanism 30 completes the maintenance work between the first operating position Q1 and the second operating position Q2, the operating mechanism 30 needs to move to the third operating position Q3. In a possible implementation, the operating mechanism 30 can be moved from the second operating position Q2 to the third operating position Q3 under the traction of the traction mechanism 20; alternatively, the operating mechanism 30 can be moved from the second operating position Q2 to the third operating position Q3 by manual operation.

[0082] For example, the working mechanism 30 can be controlled to move back to a working position close to the ground. Figure 5 For example, the operating mechanism 30 can be moved from the second operating position Q2 back to the first operating position Q1, and the wall surface is not operated in this process. The operating mechanism 30 is manually moved from the first operating position Q1 to the third operating position Q3, where the third operating position Q3 is located on the side of the second carrying position Q2 close to the ground in the vertical direction, and the direction of manual movement of the operating mechanism 30 can be the same as the direction from the first carrying position P1 to the second carrying position P2. This method can save energy consumption of the carrying mechanism 10, and by manually moving the position of the operating mechanism 30, the deviation between the actual position of the operating mechanism 30 and the third operating position Q3 can be reduced, which is conducive to improving the operation accuracy and achieving full coverage of wall operations.

[0083] For example, Figure 5 For example, the working mechanism 30 can be pulled by the pulling mechanism 20 and move to the fourth working position Q4 with the carrying mechanism 10, and then pulled by the pulling mechanism 20 to the third working position Q3. The working mechanism 30 does not work on the wall surface during the process of moving from the fourth working position Q4 to the third working position Q3. The working mechanism 30 continues to move from the third working position Q3 to the fourth working position Q4 under the pulling mechanism 20 and works on the wall surface, wherein the third working position Q3 is located on the side of the fourth working position Q4 close to the ground in the vertical direction. This method can prevent the movement of the working mechanism 30 from damaging the wall surface that has been worked on, which is conducive to improving the working effect of the wall surface.

[0084] This can reduce the weight that the transport mechanism 10 needs to bear during movement, reduce the possibility of the transport mechanism 10 slipping during movement, and is conducive to precise control of the movement of the transport mechanism 10, thereby improving the overall operation effect.

[0085] In an embodiment of the present application, the second transport site P2 can serve as the first transport site P1 on the next working path, the third working site Q3 can serve as the first working site Q1 on the next working path, and the fourth working site Q4 can serve as the second working site Q2 on the next working path. After step S207, steps S204 to S207 can be repeated to gradually operate on the entire area of ​​the wall.

[0086] In step S206 and step S207 , the working mechanism 303 moves between the third working site Q3 and the fourth working site Q4 under the traction of the traction mechanism 20 , and works on the wall surface between the third working site Q3 and the fourth working site Q4 .

[0087] In a possible implementation, the operating mechanism 30 can be used to clean the wall surface. Specifically, Figure 6 A schematic diagram of the structure of an operating mechanism 30 is shown. Figure 6 As shown, the operation mechanism 30 may include a cleaning brush disc 31 and a first water pipe 321. The cleaning brush disc 31 is arranged toward the surface to be cleaned, and the brush disc rotates during the cleaning operation to remove dirt on the surface to be cleaned. The first water pipe 321 is arranged on one side of the cleaning brush disc 31 in the opposite direction of the first direction Y. When the operation mechanism 30 cleans the surface to be cleaned along the first direction Y, the first water pipe 321 can spray high-pressure water to wash the area brushed by the cleaning brush disc.

[0088] This operating mechanism 30 has a simple structure, is relatively light, and is not likely to impose an excessive burden on the wall-climbing mechanism. It is conducive to achieving precise control of the wall-climbing mechanism and can improve cleaning efficiency and cleaning effect.

[0089] Optionally, the operating mechanism 30 includes a first recovery portion 331 , and the first recovery portion 331 is disposed on a side of the first water pipe 321 facing the ground in the vertical direction.

[0090] Figure 7 A schematic diagram of the structure of another operating mechanism 30 is shown. Figure 7 As shown, the sewage generated by spraying high-pressure water from the first water pipe 321 will flow to the ground under the action of gravity, and the first recovery part 331 can recover the sewage on the side of the first water pipe 321 facing the ground in the vertical direction, thereby realizing directional discharge of the sewage.

[0091] In this way, the operating mechanism 30 can collect the cleaning wastewater while cleaning the wall surface along the first direction Y, thereby reducing the damage of the cleaning wastewater to the environment.

[0092] According to some embodiments of the present application, another method 300 for wall operation is optionally provided, and the operation mechanism 30 in the method 300 is used to clean the wall. In the embodiment of the present application, the first direction Y refers to the direction from the first operation position Q1 to the second operation position Q2, which can be the same as the gravity direction or the opposite direction of the gravity direction. The method 300 is only described by taking the first direction Y as the opposite direction of the gravity direction as an example, and the first direction Y is not limited.

[0093] like Figure 8As shown, method 300 may include at least part of the following steps.

[0094] S301, the transport device 10 moves along the wall to the first transport position P1.

[0095] S302 , the traction mechanism 20 tractions the working mechanism 30 to move between the first working position Q1 and the second working position Q2 .

[0096] S303 , the operating mechanism 30 scrubs the wall surface between the first operating position Q1 and the second operating position Q2 along the first direction Y.

[0097] S304 , the operating mechanism 30 flushes the wall surface between the first operating point Q1 and the second operating point Q2 along the opposite direction of the first direction Y.

[0098] S305, the transport mechanism 10 moves along the wall from the first transport site P1 to the second transport site P2, and the path direction between the first transport site P1 and the second transport site P2 is perpendicular to the path direction between the first operation site Q1 and the second operation site Q2;

[0099] S306, the operating mechanism 30 moves from the second operating position Q2 to the third operating position Q3, and the third operating position Q3 is located on the side of the second carrying position P2 facing the ground in the vertical direction;

[0100] S307, the traction mechanism 20 tractions the working mechanism 30 to move between the third working position Q3 and the fourth working position Q4;

[0101] S308 , the working mechanism 30 scrubs the wall surface between the third working position Q3 and the fourth working position Q4 along the first direction Y.

[0102] S309 , the operating mechanism 30 flushes the wall surface between the third operating position Q3 and the fourth operating position Q4 along the opposite direction of the first direction Y.

[0103] Steps S301 to S302 are the same as steps S110 to S120 in method 100 and are not described in detail herein.

[0104] In step S303 and step S304, the operation mechanism 30 performs operation on the wall surface between the first operation site Q1 and the second operation site Q2, which can be specifically as follows: the operation mechanism 30 scrubs the wall surface between the first operation site Q1 and the second operation site Q2 along the first direction Y, and flushes the wall surface between the first operation site Q1 and the second operation site Q2 along the opposite direction of the first direction Y. That is, when the first direction Y is the opposite direction of the gravity direction, the operation mechanism 30 scrubs the wall surface during the ascending process, for example, the cleaning brush disc 31 in the operation mechanism 30 rotates in contact with the wall surface, so that the dirt on the surface to be cleaned is easily removed; the operation mechanism 30 flushes the wall surface during the descending process, for example, the water pipe in the operation mechanism 30 sprays high-pressure water on the wall surface during the descending process of the operation mechanism 30, so as to flush away the dirt remaining on the wall surface.

[0105] Steps S305 to S306 are the same as steps S204 to S205 in method 200 and are not described in detail herein.

[0106] In step S307 to step S309 , the working mechanism 30 moves between the third working position Q3 and the fourth working position Q4 under the traction of the traction mechanism 20 , and cleans the wall surface between the third working position Q3 and the fourth working position Q4 .

[0107] In a possible implementation, the scrubbing direction of the working mechanism 30 between the third working position Q3 and the fourth working position Q4 is the same as the scrubbing direction of the working mechanism 30 between the first working position Q1 and the second working position Q2, that is, the first direction Y; the flushing direction between the third working position Q3 and the fourth working position Q4 is the same as the flushing direction of the working mechanism 30 between the first working position Q1 and the second working position Q2, that is, the opposite direction of the first direction Y. Therefore, the working mechanism 30 can arrange a water pipe only on one side of the cleaning brush plate 31.

[0108] like Fig. 9 As shown, the operating mechanism 30 may include a cleaning brush disc 31 and a second water pipe 322, and the second water pipe 322 may be arranged on one side of the cleaning brush disc 31 along the first direction Y. In some embodiments, during the process of the operating mechanism 30 ascending along the first direction Y, only the cleaning brush disc 31 may be used to scrub the wall surface, and during the process of descending in the opposite direction of the first direction Y, the second water pipe 322 may be used to flush the wall surface.

[0109] The arrangement of the cleaning brush plate 31 and the second water pipe 322 enables the operating mechanism 30 to brush while ascending in the first direction Y and to rinse while descending in the opposite direction of the first direction Y, thereby improving the cleaning effect and efficiency.

[0110] Optionally, the operating mechanism 30 may further include a recovery unit for recovering the water flushed by the second water pipe 322 on the wall. For example, the operating mechanism 30 may include a second recovery unit 332, such as Fig. 9 As shown, the second recovery part 332 is arranged on the side of the second water pipe 322 facing the ground in the vertical direction. The high-pressure water sprayed on the wall by the second water pipe 322 flows to the ground under the action of gravity, and the second recovery part 332 can recover the sewage generated by the second water pipe 322 on the side of the second water pipe 322 facing the ground. The second recovery part 332 can effectively recover the sewage generated during the cleaning process, and there is no need to lay an additional sewage collection device around the wall, making the wall cleaning operation more convenient, thereby improving the cleaning efficiency.

[0111] Fig. 9 Only the structure in which the recovery part is arranged on the side of the cleaning brush disc 31 away from the ground in the vertical direction is shown. In some embodiments, the recovery part can also be arranged on the side of the cleaning brush disc 31 close to the ground in the vertical direction. For example, the operating mechanism 30 can include a first recovery part 331.

[0112] The method 300 can make the cleaning liquid or the cleaning brush plate of the operating mechanism 30 fully contact with the dirt on the wall surface during the scrubbing process, which is beneficial to improving the cleaning effect; at the same time, the flushing process can effectively remove the residual cleaning liquid and dirt on the wall surface, further improving the cleaning effect. At the same time, the operating mechanism 30 can realize the continuous operation of the scrubbing and flushing processes, thereby improving the cleaning efficiency.

[0113] According to some embodiments of the present application, another wall operation method 400 is optionally provided. In the embodiment of the present application, the first direction Y refers to the direction from the first operation site Q1 to the second operation site Q2, which can be the same as the gravity direction or the opposite direction of the gravity direction. The method 400 is only described by taking the first direction Y as the opposite direction of the gravity direction as an example, and the first direction Y is not limited.

[0114] like Fig.10 As shown, method 400 may include at least part of the following steps.

[0115] S401, the transport device 10 moves along the wall to the first transport position P1.

[0116] S402 , the traction mechanism 20 tractions the working mechanism to move between the first working position Q1 and the second working position Q2 .

[0117] S403 , the operating mechanism 30 operates along the first direction Y on the wall surface between the first operating point Q1 and the second operating point Q2 .

[0118] S404, the transport device 10 moves along the wall from the first transport site P1 to the second transport site P2, and the path direction between the first transport site P1 and the second transport site P2 is perpendicular to the path direction between the first working site Q1 and the second working site Q2.

[0119] S405 , the operating mechanism 30 moves from the second operating position Q2 to the third operating position Q3 , and the third operating position Q3 is located on the side of the second carrying position P2 facing the ground in the vertical direction.

[0120] S406 , the traction mechanism 20 tractions the working mechanism to move between the third working position Q3 and the fourth working position Q4 .

[0121] S407, the operating mechanism operates on the wall surface between the third operating position Q3 and the fourth operating position Q4 along the opposite direction of the first direction Y 30.

[0122] Among them, step S401 to step S406 are the same as step S201 to step S206 in method 200, and will not be repeated here.

[0123] Fig.11 A schematic block diagram of another method for performing wall work by a wall work device is shown. Fig.11 As shown, the direction in which the working mechanism 30 works from the third working position Q3 to the fourth working position Q4 is opposite to the direction in which the working mechanism 30 works from the first working position Q1 to the second working position Q2. Specifically, the working mechanism 30 completes the work in the area between the first working position Q1 and the second working position Q2 along the first direction Y; the working mechanism 30 moves to the third working position Q3 along the second direction with the transport mechanism 10. The second direction is the path direction between the first transport position P1 and the second transport position P2, which is perpendicular to the first direction Y. The traction mechanism 20 controls the working mechanism 30 to move in the opposite direction of the first direction Y, and works on the area between the third working position Q3 and the fourth working position Q4.

[0124] In this operation mode, the operation mechanism 30 can always keep working, and under the control of the traction mechanism 20, it operates on the wall surface back and forth in a "J" shape, which significantly improves the operation efficiency and can achieve full coverage of the wall operation.

[0125] According to some embodiments of the present application, optionally, the operating mechanism 30 is used to clean the wall surface, and the operating mechanism 30 includes a cleaning brush plate 31, a first water pipe 321 and a second water pipe 322, the first water pipe 321 is arranged on the side of the cleaning brush plate 31 in the opposite direction of the first direction Y, and the second water pipe 322 is arranged on the side of the cleaning brush plate 31 along the first direction Y.

[0126] Fig.12 A schematic diagram of the structure of another operating mechanism 30 is shown. Fig.12 As shown, the cleaning brush disc 31 is arranged toward the surface to be cleaned, and the brush disc rotates during the cleaning operation to remove dirt on the cleaning surface.

[0127] The first water pipe 321 and the second water pipe 322 are respectively disposed on both sides of the cleaning brush plate 31 in the vertical direction. Fig.12 Taking the operating mechanism 30 shown as an example, the first water pipe 321 is arranged on the side of the cleaning brush disc 31 along the opposite direction of the first direction Y. Then, when the operating mechanism 30 is cleaning along the first direction Y, the first water pipe 321 can be used to rinse the area brushed by the cleaning brush disc 31; the second water pipe 322 is arranged on the side of the cleaning brush disc 31 along the first direction Y. Then, when the operating mechanism 30 is cleaning along the opposite direction of the first direction Y, the second water pipe 322 can be used to rinse the area brushed by the cleaning brush disc 31.

[0128] The structure of the operating mechanism 30 can adapt to the cleaning operation of the operating mechanism 30 in different directions, and realize the back and forth cleaning of the operating mechanism 30 on the wall surface, which can improve the cleaning efficiency and the cleaning effect of the wall surface.

[0129] According to some embodiments of the present application, optionally, the operating mechanism 30 includes a first recovery part 331 and a second recovery part 332, the first recovery part 331 is arranged on the side of the first water pipe 321 facing the ground in the vertical direction, and the second recovery part 332 is arranged on the side of the second water pipe 322 facing the ground in the vertical direction.

[0130] Fig.13 A schematic diagram of the structure of another operating mechanism 30 is shown. The high-pressure water sprayed by the water pipe onto the wall will flow to the ground under the action of gravity. Therefore, the recovery part of the operating mechanism 30 is often arranged on the side of the water pipe facing the ground in the vertical direction, that is, on the side along the gravity direction.

[0131] During the cleaning process of the operating mechanism 30 along the first direction Y, the first water pipe 321 flushes the area brushed by the cleaning brush disc 31, and the first recovery part 331 recovers the sewage generated by the cleaning process; during the cleaning process of the operating mechanism 30 along the opposite direction of the first direction Y, the second water pipe 322 flushes the area brushed by the cleaning brush disc 31, and the second recovery part 332 recovers the sewage generated by the cleaning process.

[0132] The structure of the operating mechanism 30 can adapt to cleaning operations of the operating mechanism 30 in different directions. No matter which direction the cleaning operation is performed, there is a corresponding recovery mechanism to recover the wastewater generated during the cleaning process. This can improve the cleaning efficiency while effectively reducing the damage of the cleaning wastewater to the environment.

[0133] According to some embodiments of the present application, optionally, the operating mechanism 30 includes a flow guide pipe 34 , and the flow guide pipe 34 connects the first recovery part 331 and the second recovery part 332 .

[0134] like Fig.13 As shown, the guide pipe 34 is disposed between the first recovery part 331 and the second recovery part 332, and the recovery space of the first recovery part 331 is connected to the recovery space of the second recovery part 332. The sewage generated during the cleaning process is collected in the second recovery part 332, and flows along the guide pipe 34 to the first recovery part 331, and then the first recovery part 331 guides the sewage to the ground for discharge. In some embodiments, the guide pipe 34 can be a flexible hose.

[0135] This can save the material required for the second recovery part 332 to guide the sewage to the ground, and reduce the manufacturing cost of the operating mechanism 30 without affecting the cleaning efficiency and cleaning effect.

[0136] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

Claims

1. A device for wall operation, characterized in that: include: A transport mechanism (10), a traction mechanism (20) and an operating mechanism (30), wherein at least a portion of the traction mechanism (20) is carried on the transport mechanism (10), and the transport mechanism (10) is connected to the operating mechanism (30) via the traction mechanism (20); The transport mechanism (10) is used to move along the wall surface to a first transport position (P1); The traction mechanism (20) is used to tow the working mechanism (30) to move between a first working position (Q1) and a second working position (Q2), wherein the first working position (Q1) and the second working position (Q2) are located on a side of the first carrying position (P1) close to the ground in a vertical direction; The operating mechanism (30) is used to operate on the wall surface between the first operating position (Q1) and the second operating position (Q2).

2. A method for wall operation, characterized in that: The device for wall operation as claimed in claim 1 comprises: The transport mechanism (10) moves along the wall surface to a first transport position (P1); The traction mechanism (20) tractions the working mechanism (30) to move between a first working position (Q1) and a second working position (Q2), wherein the first working position (Q1) and the second working position (Q2) are located on a side of the first carrying position (P1) close to the ground in a vertical direction; The operating mechanism (30) operates on the wall surface between the first operating position (Q1) and the second operating position (Q2).

3. The method according to claim 2, characterized in that The method further comprises: The transport mechanism (10) moves along the wall from the first transport position (P1) to the second transport position (P2), and the path direction between the first transport position (P1) and the second transport position (P2) is perpendicular to the path direction between the first operation position (Q1) and the second operation position (Q2); The operating mechanism (30) moves from the second operating position (Q2) to a third operating position (Q3), wherein the third operating position (Q3) is located on a side of the second carrying position (P2) facing the ground in a vertical direction; The traction mechanism (20) tractions the operating mechanism (30) to move from the third operating position (Q3) to the fourth operating position (Q4); The operating mechanism (30) operates on the wall surface between the third operating position (Q3) and the fourth operating position (Q4).

4. The method according to claim 3, characterized in that The operating mechanism (30) operates on the wall surface between the third operating position (Q3) and the fourth operating position (Q4), comprising: The operating mechanism (30) operates on the wall surface between the third operating position (Q3) and the fourth operating position (Q4) along a first direction (Y), wherein the first direction (Y) is the direction from the first operating position (Q1) to the second operating position (Q2).

5. The method according to claim 3 or 4, characterized in that: The operating mechanism (30) is used to clean the wall surface. The operating mechanism (30) comprises a cleaning brush disc (31) and a first water pipe (321), wherein the first water pipe (321) is arranged on a side of the cleaning brush disc (31) in the opposite direction of a first direction (Y), and the first direction (Y) is the direction from the first operating position (Q1) to the second operating position (Q2).

6. The method according to claim 5, characterized in that The operating mechanism (30) comprises a first recovery portion (331), and the first recovery portion (331) is arranged on a side of the first water pipe (321) facing the ground in a vertical direction.

7. The method according to claim 3, characterized in that The operating mechanism (30) operates on the wall surface between the third operating position (Q3) and the fourth operating position (Q4), comprising: The operating mechanism (30) operates on the wall surface between the third operating position (Q3) and the fourth operating position (Q4) along the opposite direction of the first direction (Y), and the first direction (Y) is the direction from the first operating position (Q1) to the second operating position (Q2).

8. The method according to claim 7, characterized in that The operating mechanism (30) is used to clean the wall surface. The operating mechanism (30) comprises a cleaning brush disc (31), a first water pipe (321) and a second water pipe (322); the first water pipe (321) is arranged on a side of the cleaning brush disc (31) in the opposite direction of a first direction (Y); and the second water pipe (322) is arranged on a side of the cleaning brush disc (31) in the first direction (Y).

9. The method according to claim 8, characterized in that The operating mechanism (30) comprises a first recovery portion (331) and a second recovery portion (332), wherein the first recovery portion (331) is arranged on a side of the first water pipe (321) facing the ground in a vertical direction, and the second recovery portion (332) is arranged on a side of the second water pipe (322) facing the ground in a vertical direction.

10. The method according to claim 9, characterized in that The operating mechanism (30) comprises a flow guide pipe (34), wherein the flow guide pipe (34) is connected to the first recovery part (331) and the second recovery part (332).

11. The method according to claim 2, characterized in that The operating mechanism (30) is used to clean the wall surface. The operating mechanism (30) operates on the wall surface between the first operating position (Q1) and the second operating position (Q2), comprising: The operating mechanism (30) scrubs the wall surface between the first operating position (Q1) and the second operating position (Q2) along a first direction (Y), wherein the first direction (Y) is the direction from the first operating position (Q1) to the second operating position (Q2); The operating mechanism (30) flushes the wall surface between the first operating position (Q1) and the second operating position (Q2) along the opposite direction of the first direction (Y).

12. The method according to claim 11, characterized in that The operating mechanism (30) comprises a cleaning brush disc (31); The operating mechanism (30) flushes the wall surface between the first operating position (Q1) and the second operating position (Q2) along the opposite direction of the first direction (Y), comprising: The cleaning brush plate (31) flushes the wall surface between the first working position (Q1) and the second working position (Q2) along the opposite direction of the first direction (Y).

13. The method according to claim 12, characterized in that The operating mechanism (30) comprises a second water pipe (322), and the second water pipe (322) is arranged on one side of the cleaning brush plate (31) along the first direction (Y); The operating mechanism (30) flushes the wall surface between the first operating position (Q1) and the second operating position (Q2) along the opposite direction of the first direction (Y), comprising: The second water pipe (322) flushes the wall surface between the first working position (Q1) and the second working position (Q2) along the opposite direction of the first direction (Y).

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