Robot for repairing paint surface of tower drum

Abstract

The invention provides a tower drum paint surface repairing robot which comprises a climbing robot body used for moving along a tower drum; the skin shoveling device is arranged on the front portion of the climbing robot body in the advancing direction, and the skin shoveling device is used for shoveling old paint on the surface of the tower drum; the paint spraying device is arranged at the rear part of the climbing robot body; and the control device is electrically connected with the climbing robot body, the skin shoveling device and the paint spraying device. The climbing robot body can quickly and stably move along the tower drum, continuous and automatic operation of old paint shoveling and new paint spraying can be achieved by combining the front shoveling device and the rear paint spraying device, and compared with manual repairing, the time for repairing the paint surface of the tower drum is greatly shortened, the operation efficiency is improved, and the labor intensity of workers is reduced. And the shutdown time of the wind power equipment caused by repairing work is shortened, and the power generation benefit is improved.

Description

Technical Field

[0001] The invention relates to tower paint surface repair, and in particular to a tower paint surface repair robot. Background Art

[0002] As a crucial component of wind turbine equipment, wind turbine towers are exposed to the outdoors for extended periods of time. They not only withstand strong winds, heavy rain, and sandstorms, but also face complex environmental factors such as ultraviolet radiation and salt spray corrosion. Tower paint, a key barrier protecting the tower's metal base, plays a vital role in preventing corrosion, extending its service life, and ensuring stable operation of wind turbine equipment. Once the paint becomes damaged or flaked, the tower metal is exposed to the external environment, accelerating corrosion. In severe cases, this can even affect the tower's structural strength and pose a safety hazard. At present, in the field of tower paint repair, the common manual repair method requires maintenance personnel to climb to high altitudes to perform operations. Not only is the work efficiency low, but the risks of high-altitude operations are also extremely high, posing a great threat to the personal safety of maintenance personnel. Summary of the Invention

[0003] The present invention provides a tower paint repair robot to solve the technical problems raised by the above background technology.

[0004] In order to solve the above technical problems, the present invention discloses a tower paint repair robot, comprising: A climbing robot body, which is used to move along the tower; A scraping device is provided at the front of the climbing robot body in the forward direction, and is used to remove old paint from the surface of the tower; A paint spraying device, the paint spraying device being arranged at the rear of the climbing robot body; A control device is electrically connected to the climbing robot body, the skin scraping device, and the paint spraying device respectively.

[0005] Preferably, the skin scraping device includes: A telescopic mechanism, wherein the telescopic end of the telescopic mechanism is connected to a scraper, and the scraper is used to remove old paint on the surface of the tower.

[0006] Preferably, the fixed end of the telescopic mechanism is fixedly mounted on the angle adjustment end of the adjustment mechanism, and the adjustment mechanism is used to adjust the angle between the blade and the tower surface.

[0007] Preferably, the adjustment mechanism includes: A base and a movable base, the movable base is connected to the base by sliding along the front-back direction, a power device is provided on the base, the power device is used to push the movable base to slide along the front-back direction and be connected to the base, the left and right sides of the movable base are symmetrically fixed with fixed blocks, the horizontal axis is rotatably connected between the two fixed blocks, a driving motor device for driving the horizontal axis to rotate is provided on a fixed block, the horizontal axis is fixed and passes through the support plate, and the telescopic mechanism is installed on the support plate.

[0008] Preferably, the adjustment mechanism further comprises: two sets of side support mechanisms, symmetrically arranged on the left and right sides of the support plate; The side support mechanism on the right side includes: a support block, a strip groove is set on the support block, the lower end of the support block is rotatably connected to the right side of the movable seat through a rotating shaft in the left and right directions, a sliding rod is set on the right side of the support plate, and the sliding rod is slidably connected in the strip groove.

[0009] Preferably, the control device includes: The first acquisition module is used to obtain information about the paint to be scraped and the radius of the tower; the information about the paint to be scraped includes: the thickness of the paint to be scraped; A third determining module is used to determine a target scraping angle corresponding to the current paint leather to be scraped based on the first obtaining module; A fourth determining module is configured to preliminarily determine a required thrust F of the current paint leather to be shoveled based on a target shoveling angle corresponding to the current paint leather to be shoveled; The first control module is used to control the operation of the leather scraping device so that the actual leather scraping angle is the target leather scraping angle and the output thrust of the power device is within the preset range of the required thrust of the paint leather to be scraped.

[0010] Preferably, the control device further includes: The second acquisition module is used to obtain a speed-thrust variation curve of the shovel blade under rated input parameters of the power device; the abscissa of the speed-thrust variation curve of the shovel blade is the speed of the shovel blade, and the ordinate is the average thrust of the shovel blade; The third acquisition module is used to obtain the target scraping speed range of the current tower; A first determining module is used to determine a first vertical coordinate range in the speed-thrust variation curve of the scraper blade that satisfies a preset range of thrust requirements of the paint leather to be scraped; A fourth acquisition module is configured to acquire a historical thrust fluctuation parameter of the power device at a thrust corresponding to each first integer ordinate in the first ordinate range; A second calculation module is used to calculate the reliability coefficient of each first integer vertical coordinate based on the third acquisition module; The second determination module is used to determine the first integer ordinate whose reliability coefficient is greater than a preset value as the target first integer ordinate, and to determine the target thrust range based on the target integer first ordinate. The target thrust range belongs to the preset range of the required thrust of the paint leather to be shoveled at present. The first control module controls the operation of the leather shoveling device so that the actual leather shoveling angle is the target leather shoveling angle, and the output thrust of the power device is within the target thrust range.

[0011] Preferably, the reliability coefficient of the first integer ordinate is calculated based on the following formula: ; is the reliability coefficient of the first integer ordinate of the i-th position; is the horizontal coordinate corresponding to the first integer vertical coordinate of the i-th If it falls within the target scraping speed range, The value is 1, otherwise, The value is 0; is the average value of the time difference between two thrust fluctuations in the historical fluctuation parameters within the thrust range corresponding to the i-th first integer ordinate; is the maximum allowable time difference between two thrust fluctuations; It is the maximum fluctuation degree of all fluctuations in the historical fluctuation parameters within the thrust range corresponding to the i-th first integer ordinate. Each fluctuation degree is the ratio of the absolute value of the difference between the thrust after the fluctuation and the thrust before the fluctuation to the difference between the thrust before the fluctuation.

[0012] Compared with the prior art, the present invention has the following beneficial effects: Improve operational safety: Replacing manual climbing at high altitudes with a climbing robot can significantly reduce the safety risks of maintenance personnel falling, bumping, and other injuries caused by strong winds, equipment failures, and other factors in high-altitude environments, thereby ensuring the safety of workers and reducing the occurrence of safety accidents. Improve repair efficiency: The climbing robot body can move quickly and stably along the tower. Combined with the scraping device at the front and the painting device at the rear, it can realize the continuous and automated operation of scraping off old paint and spraying new paint. Compared with manual repair, it greatly shortens the time for tower paint repair, improves work efficiency, reduces the downtime of wind power equipment caused by repair work, and improves power generation benefits. Guaranteeing the quality of repair: The scraping device can accurately control the scraping force and range, evenly scraping off the old paint, and avoiding old paint residue or damage to the tower surface caused by uneven force and improper operation during manual operation; the paint spraying device can spray evenly according to the preset parameters to ensure the uniform thickness of the paint surface and the smooth surface, effectively improving the quality and protective performance of the paint repair and extending the service life of the tower. Reduced labor costs: The robot can automate operations, significantly reducing reliance on specialized high-altitude workers and lowering labor costs. Furthermore, the robot's reusability and efficient operation further spread the cost of a single repair operation. Enhanced environmental adaptability: The control device can flexibly adjust the moving speed of the climbing robot body, the working mode of the scraping device, and the spraying parameters of the painting device according to the actual conditions of the tower, such as height, shape, and degree of paint damage, so that the robot can adapt to towers of different specifications and damage conditions, and has strong environmental adaptability and versatility. Achieve precise operation: The control device can precisely regulate the climbing robot body, scraping device, and painting device through precise electrical signal control, ensuring the coordination and accuracy of each device during the operation process, avoiding poor repair results or material waste due to operational errors, and improving resource utilization efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions in the present invention or the prior art, a brief introduction is given below to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0014] Figure 1 A schematic block diagram of the composition of this application; Figure 2 This is a structural schematic diagram of an embodiment of the skin scraping device of the present application.

[0015] In the figure: 1. telescopic mechanism; 2. scraper; 3. base; 4. movable seat; 5. fixed block; 6. horizontal axis; 7. support plate; 8. support block; 9. strip groove; 10. slide rod; 11. rotating shaft. DETAILED DESCRIPTION

[0016] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the embodiments described are only some of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0017] Example 1: The purpose of this invention is to provide a tower paint repair robot, such as Figure 1-Figure 2 Shown, including: A climbing robot body, which is used to move along the tower; A scraping device is provided at the front of the climbing robot body in the forward direction, and is used to remove old paint from the surface of the tower; A paint spraying device, the paint spraying device being arranged at the rear of the climbing robot body; A control device is electrically connected to the climbing robot body, the skin scraping device, and the paint spraying device respectively.

[0018] In the present invention, the climbing robot is an existing tower climbing robot / tower pole climbing robot / tower robot (such as 118990536A), and its structure is prior art and will not be described in detail here.

[0019] Paint spraying device of the present invention is also prior art.Wherein, the skin scraping device of the present invention also can adopt the existing skin scraping device with adjustable skin scraping angle.

[0020] The beneficial effects of the above technical solution are: Improve operational safety: Replacing manual climbing at high altitudes with a climbing robot can significantly reduce the safety risks of maintenance personnel falling, bumping, and other injuries caused by strong winds, equipment failures, and other factors in high-altitude environments, thereby ensuring the safety of workers and reducing the occurrence of safety accidents. Improve repair efficiency: The climbing robot body can move quickly and stably along the tower. Combined with the scraping device at the front and the painting device at the rear, it can realize the continuous and automated operation of scraping off old paint and spraying new paint. Compared with manual repair, it greatly shortens the time for tower paint repair, improves work efficiency, reduces the downtime of wind power equipment caused by repair work, and improves power generation benefits. Guaranteeing the quality of repair: The scraping device can accurately control the scraping force and range, evenly scraping off the old paint, and avoiding old paint residue or damage to the tower surface caused by uneven force and improper operation during manual operation; the paint spraying device can spray evenly according to the preset parameters to ensure the uniform thickness of the paint surface and the smooth surface, effectively improving the quality and protective performance of the paint repair and extending the service life of the tower. Reduced labor costs: The robot can automate operations, significantly reducing reliance on specialized high-altitude workers and lowering labor costs. Furthermore, the robot's reusability and efficient operation further spread the cost of a single repair operation. Enhanced environmental adaptability: The control device can flexibly adjust the moving speed of the climbing robot body, the working mode of the scraping device, and the spraying parameters of the painting device according to the actual conditions of the tower, such as height, shape, and degree of paint damage, so that the robot can adapt to towers of different specifications and damage conditions, and has strong environmental adaptability and versatility. Achieve precise operation: The control device can precisely regulate the climbing robot body, scraping device, and painting device through precise electrical signal control, ensuring the coordination and accuracy of each device during the operation process, avoiding poor repair results or material waste due to operational errors, and improving resource utilization efficiency.

[0021] Example 2, based on Example 1, Figure 2 As shown, the skin scraping device includes: The telescopic mechanism 1 has a telescopic end connected to a scraper 2, which is used to remove old paint on the surface of the tower.

[0022] Preferably, the fixed end of the telescopic mechanism 1 is fixedly mounted on the angle adjustment end of the adjustment mechanism, and the adjustment mechanism is used to adjust the angle between the blade 2 and the tower surface.

[0023] Preferably, the adjustment mechanism includes: A base 3 and a movable base 4 are connected to the base 3 in a sliding manner along the front-rear direction. A power device is provided on the base 3. The power device is used to push the movable base 4 to slide along the front-rear direction and is connected to the base 3. The movable base 4 is symmetrically fixed with fixed blocks 5 on both sides. The horizontal axis 6 is rotatably connected between the two fixed blocks 5. A driving motor device for driving the horizontal axis 6 to rotate is provided on one of the fixed blocks 5 (this is the prior art, not shown in the figure). The horizontal axis 6 is fixedly passed through the support plate 7, and the telescopic mechanism 1 is installed on the support plate 7.

[0024] Preferably, the adjustment mechanism further comprises: two sets of side support mechanisms, symmetrically arranged on the left and right sides of the support plate 7; The side support mechanism on the right side includes: a support block 8, a strip groove 9 is set on the support block 8, the lower end of the support block 8 is rotatably connected to the right side of the movable seat 4 through a rotating shaft 11 in the left and right directions, and a sliding rod 10 is set on the right side of the support plate 7, and the sliding rod 10 is slidably connected in the strip groove 9.

[0025] The telescopic mechanism 1 may be an existing electric telescopic rod, and the power device may be an existing screw-type translation mechanism or a hydraulic rod or a gas rod.

[0026] The base 3 of the present invention can also be arranged on an angle adjustment device to adjust the surface of the base 3 parallel to the scraping direction of the tower; The working principle and beneficial effects of the above technical solution are: The telescopic mechanism 1 can quickly adjust the cutting depth of the scraper 2 according to the thickness of the old paint, avoiding wasting time due to repeated debugging; the adjustment mechanism can adjust the angle between the scraper and the tower surface, eliminating the need for frequent manual adjustment of the scraper angle, thereby greatly shortening the time for scraping off the old paint and significantly improving work efficiency.

[0027] In the adjustment mechanism, the drive motor device drives the horizontal shaft 6 to rotate, thereby driving the support plate 7, the telescopic mechanism 1, and the blade 2 to rotate synchronously, adjusting the angle between the blade 2 and the tower surface to meet different blade scraping angle requirements.

[0028] Two sets of side supports are symmetrically positioned on the left and right sides of the support plate 7. Taking the right side support mechanism as an example, when the blade 2 is adjusted, the slide bar 10 on the right side of the support plate 7 slides within the strip groove 9 of the support block 8. Simultaneously, the lower end of the support block 8 is pivotally connected to the right side of the movable base 4 via a rotating shaft 11. This structure provides support and guidance for blade 2 as its angle changes. The side supports provide stable support during blade adjustment, effectively reducing blade 2 movement during operation and ensuring smoother, more precise blade movement. This not only improves the effectiveness of old paint removal but also reduces wear and tear on the equipment caused by movement, extending its service life.

[0029] After the power device (such as electric cylinder, air cylinder, etc.) in the adjustment mechanism is started, it pushes the movable seat 4 to slide along the front and rear direction of the base 3, thereby achieving the purpose of scraping the skin along the surface of the tower.

[0030] Example 3, based on Example 1, the control device includes: The first acquisition module is used to obtain information about the paint to be scraped and the radius of the tower; the information about the paint to be scraped includes: the thickness of the paint to be scraped; A first calculation module is used to determine the target scraping angle corresponding to the paint leather to be scraped based on the first acquisition module (the target scraping angle can also be determined based on existing technology); ; in, is the thickness of the paint to be scraped; r is the radius of the tower; is the first coefficient, with a value of 0.1-0.5; is the target scraping angle corresponding to the paint skin to be scraped currently, and R is the preset advancing distance of the scraper on the tower surface along the horizontal direction of the scraping skin; is the inverse tangent function; the above angle unit can be radians; R can be 35mm; A fourth determination module is used to preliminarily determine the required thrust of the paint leather to be scraped based on the target scraping angle corresponding to the paint leather to be scraped (this can be determined based on existing technical tests or calculated based on the following formula); ; f is the adhesion force per unit area of the paint on the sleeve; sin is sine, cos is cosine, The value is 3.14; is the friction coefficient between the paint skin and the scraper; is the unit distance (in meters); The first control module is used to control the operation of the leather scraping device so that the actual leather scraping angle is the target leather scraping angle and the output thrust of the power device is within the preset range of the required thrust of the paint leather to be scraped.

[0031] The beneficial effects of the above technical solution are: 1. Accurately Calculate and Control Angles: The first acquisition module acquires information such as paint thickness and tower radius, and uses a formula to precisely calculate the target scraping angle. This takes into account the impact of practical factors such as paint thickness and tower radius on the scraping angle. Compared to scraping based on experience or fixed angles, this method better reflects actual working conditions, ensuring that the scraper blade engages the paint at the appropriate angle, improving scraping efficiency and quality, and reducing problems such as paint residue and excessive wear on the tower surface caused by improper angles.

[0032] 2. Rational Calculation and Control of Thrust: The second calculation module uses a formula to calculate the required thrust for the paint to be scraped, based on the target scraping angle determined by the first calculation module. This takes into account factors such as paint adhesion and friction coefficient, ensuring the power unit outputs a reasonable thrust range. This ensures sufficient force to remove paint while avoiding excessive thrust that could damage the equipment or the tower, and insufficient thrust that would prevent effective scraping, thus achieving efficient and safe scraping operations.

[0033] 3. Intelligent Control: The first control module controls the shoveling device based on previously calculated angle and thrust, ensuring that the actual shoveling angle and power unit output thrust are within the appropriate range. This enables automated and intelligent control of the shoveling operation, reducing manual intervention and operational errors, improving operational stability and consistency, and lowering labor costs. It is suitable for large-scale, repetitive tower shoveling operations.

[0034] Example 4, based on Example 3, the control device further includes: The second acquisition module is used to obtain a speed-thrust variation curve of the shovel blade under rated input parameters of the power device; the abscissa of the speed-thrust variation curve of the shovel blade is the speed of the shovel blade, and the ordinate is the average thrust of the shovel blade; The third acquisition module is used to obtain the target scraping speed range of the current tower; A first determining module is used to determine a first vertical coordinate range in the speed-thrust variation curve of the scraper blade that satisfies a preset range of thrust requirements of the paint leather to be scraped; A fourth acquisition module is configured to acquire a historical thrust fluctuation parameter of the power device at a thrust corresponding to each first integer ordinate in the first ordinate range; A second calculation module is used to calculate the reliability coefficient of each first integer vertical coordinate based on the third acquisition module; The second determination module is used to determine the first integer ordinate whose reliability coefficient is greater than a preset value as the target first integer ordinate, and to determine the target thrust range based on the target integer first ordinate. The target thrust range belongs to the preset range of the required thrust of the paint leather to be shoveled at present. The first control module controls the operation of the leather shoveling device so that the actual leather shoveling angle is the target leather shoveling angle, and the output thrust of the power device is within the target thrust range.

[0035] The reliability coefficient of the first integer ordinate is calculated based on the following formula: ; is the reliability coefficient of the first integer ordinate of the i-th position; is the horizontal coordinate corresponding to the first integer vertical coordinate of the i-th If it falls within the target scraping speed range, The value is 1, otherwise, The value is 0; is the average of the time differences between two thrust fluctuations in the historical fluctuation parameters within the thrust range corresponding to the i-th first integer ordinate (a single fluctuation occurs when the absolute value of the difference between two thrusts during a stable thrust process is greater than a preset value); is the maximum allowable time difference between two thrust fluctuations; It is the maximum fluctuation degree of all fluctuations in the historical fluctuation parameters within the thrust range corresponding to the i-th first integer ordinate. Each fluctuation degree is the ratio of the absolute value of the difference between the thrust after the fluctuation and the thrust before the fluctuation to the difference between the thrust before the fluctuation.

[0036] The target thrust range is determined by the target integer first ordinate, which can be as follows: When there are consecutive target integer first ordinates, determining the target thrust range based on the existence of a minimum value and a maximum value of the consecutive target integer first ordinates; When there is a single target integer first ordinate, the target thrust range is determined to be the single target integer first ordinate ±0.5N; The beneficial effects of the above technical solution are: 1. Precisely Adapt Power Parameters: The second acquisition module obtains the blade's speed-thrust curve, combined with the target scraping speed range obtained by the third acquisition module, to determine the appropriate thrust range based on actual working conditions. The first determination module identifies the vertical coordinate range that meets the required thrust range for the paint being scraped. This ensures that thrust settings are more aligned with actual needs, avoiding power waste or insufficiency, improving the power unit's energy efficiency and the stability of scraping operations.

[0037] 2. Ensuring Thrust Stability: The fourth acquisition module acquires historical thrust fluctuation parameters, based on which the second calculation module calculates the reliability coefficient. The second determination module selects the target first integer ordinate whose reliability coefficient exceeds a preset value, thereby determining the target thrust range. This process fully considers historical thrust fluctuations and helps eliminate parameters with large thrust fluctuations and instability, ensuring the stability of the power unit's output thrust during actual operation and reducing problems such as inconsistent scraping results and increased equipment wear caused by thrust fluctuations.

[0038] 3. Improved Operation Reliability and Quality: The first control module controls the scraping device based on a defined target scraping angle and thrust range. This precise control of both angle and thrust allows for more stable and efficient scraping operations, reducing quality issues such as paint residue and over-scraping, thereby improving overall reliability and quality.

[0039] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the various embodiments of the present invention.

Claims

1. A tower paint repair robot, characterized in that: include: A climbing robot body, which is used to move along the tower; A scraping device is provided at the front of the climbing robot body in the forward direction, and is used to remove old paint from the surface of the tower; A paint spraying device, the paint spraying device being arranged at the rear of the climbing robot body; A control device is electrically connected to the climbing robot body, the skin scraping device, and the paint spraying device respectively.

2. The tower paint repair robot according to claim 1, characterized in that: The skin shoveling device comprises: A telescopic mechanism (1), wherein the telescopic end of the telescopic mechanism (1) is connected to a scraper (2), and the scraper (2) is used for scraping off old paint on the surface of the tower.

3. The tower paint repair robot according to claim 2, characterized in that: The fixed end of the telescopic mechanism (1) is fixedly mounted on the angle adjustment end of the adjustment mechanism, and the adjustment mechanism is used to adjust the angle between the blade (2) and the tower surface.

4. The tower paint repair robot according to claim 3, characterized in that: The regulating mechanism comprises: A base (3) and a movable base (4) are provided. The movable base (4) is connected to the base (3) in a sliding manner along the front-back direction. A power device is provided on the base (3). The power device is used to push the movable base (4) to slide along the front-back direction and connect to the base (3). Fixed blocks (5) are symmetrically fixedly connected to the left and right sides of the movable base (4). A horizontal shaft (6) is rotatably connected between the two fixed blocks (5). A driving motor device for driving the horizontal shaft (6) to rotate is provided on one of the fixed blocks (5). The horizontal shaft (6) is fixedly passed through a support plate (7). The telescopic mechanism (1) is installed on the support plate (7).

5. The tower paint repair robot according to claim 4, characterized in that: The adjustment mechanism further comprises: two sets of side support mechanisms, symmetrically arranged on the left and right sides of the support plate (7); The side support mechanism on the right side comprises: a support block (8), a strip groove (9) is provided on the support block (8), the lower end of the support block (8) is rotatably connected to the right side of the movable seat (4) through a rotating shaft (11) in the left and right directions, and a sliding rod (10) is provided on the right side of the support plate (7), and the sliding rod (10) is slidably connected in the strip groove (9).

6. The tower paint repair robot according to claim 1, characterized in that: The control device comprises: The first acquisition module is used to obtain information about the paint to be scraped and the radius of the tower; the information about the paint to be scraped includes: the thickness of the paint to be scraped; A third determining module is used to determine a target scraping angle corresponding to the current paint leather to be scraped based on the first obtaining module; A fourth determining module is configured to preliminarily determine a required thrust F of the current paint leather to be shoveled based on a target shoveling angle corresponding to the current paint leather to be shoveled; The first control module is used to control the operation of the leather scraping device so that the actual leather scraping angle is the target leather scraping angle and the output thrust of the power device is within the preset range of the required thrust of the paint leather to be scraped.

7. The tower paint repair robot according to claim 6, characterized in that: The control device further comprises: The second acquisition module is used to obtain a speed-thrust variation curve of the shovel blade under rated input parameters of the power device; the abscissa of the speed-thrust variation curve of the shovel blade is the speed of the shovel blade, and the ordinate is the average thrust of the shovel blade; The third acquisition module is used to obtain the target scraping speed range of the current tower; A first determining module is used to determine a first vertical coordinate range in the speed-thrust variation curve of the scraper blade that satisfies a preset range of thrust requirements of the paint leather to be scraped; A fourth acquisition module is configured to acquire a historical thrust fluctuation parameter of the power device at a thrust corresponding to each first integer ordinate in the first ordinate range; A second calculation module is used to calculate the reliability coefficient of each first integer vertical coordinate based on the third acquisition module; The second determination module is used to determine the first integer ordinate whose reliability coefficient is greater than a preset value as the target first integer ordinate, and to determine the target thrust range based on the target integer first ordinate. The target thrust range belongs to the preset range of the required thrust of the paint leather to be shoveled at present. The first control module controls the operation of the leather shoveling device so that the actual leather shoveling angle is the target leather shoveling angle, and the output thrust of the power device is within the target thrust range.

8. The tower paint repair robot according to claim 6, characterized in that: The reliability coefficient of the first integer ordinate is calculated based on the following formula: ; is the reliability coefficient of the first integer ordinate of the i-th position; is the horizontal coordinate corresponding to the first integer vertical coordinate of the i-th If it falls within the target scraping speed range, The value is 1, otherwise, The value is 0; is the average value of the time difference between two thrust fluctuations in the historical fluctuation parameters within the thrust range corresponding to the i-th first integer ordinate; is the maximum allowable time difference between two thrust fluctuations; It is the maximum fluctuation degree of all fluctuations in the historical fluctuation parameters within the thrust range corresponding to the i-th first integer ordinate. Each fluctuation degree is the ratio of the absolute value of the difference between the thrust after the fluctuation and the thrust before the fluctuation to the difference between the thrust before the fluctuation.

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