Boiler water wall climbing robot and control method thereof

Abstract

The invention discloses a wall-climbing robot for a water cooling wall of a boiler and a control method of the wall-climbing robot. Comprising a connecting platform, three sets of supporting feet which are installed on the connecting platform in an annular array mode and can achieve cross-wall-face movement, range finders which are installed on the supporting feet and used for measuring the advancing distance, and cleaning assemblies which are installed on the supporting feet and used for cleaning the boiler water cooling wall. The infrared cameras are mounted on the supporting feet and used for shooting the boiler water-cooled wall in real time; and the repairing assemblies are mounted on the supporting feet and used for repairing the boiler water-cooled wall. The device integrates the functions of cleaning, dust collection, detection, repairing and the like, actual use is facilitated, and the overall practicability can be improved; according to the robot, cross-wall-face movement can be achieved, the robot can conveniently clean different wall faces of the boiler, compared with an existing cleaning mode that a scaffold is manually erected and the wall faces of the boiler are cleaned with the help of the scaffold, the robot is beneficial to improving the safety when workers clean the wall faces of the boiler, and the cleaning effect is high.

Description

Technical Field

[0001] This invention relates to a robot, and more particularly to a boiler water-cooled wall climbing robot and its control method. Background Technology

[0002] Large power plant boilers widely use membrane water-cooled wall structures. During boiler operation, the surface of the water-cooled wall near the heat source is prone to ash accumulation, slag formation, wear, and corrosion, which can cause significant harm to the safe and economical operation of the boiler. Therefore, regular inspection of the water-cooled wall is essential. During boiler shutdown and maintenance, accumulated ash and slag must be cleaned, and corroded areas must be repaired promptly to prevent tube rupture accidents.

[0003] Currently, the cleaning and inspection of water-cooled walls are mostly done manually. Since the height of water-cooled walls is generally 6-80m, the traditional boiler water-cooled wall maintenance method first requires the erection of a large area of ​​scaffolding in the confined space inside the boiler, and then manual spot checks are carried out on high-risk areas of the water-cooled walls. This results in a high risk factor, long cycle, poor effect and high cost of maintenance. Summary of the Invention

[0004] Purpose of the invention: The first purpose of this invention is to provide a boiler water-cooled wall climbing robot with detection and cleaning / repair functions and capable of moving across the wall surface.

[0005] The second objective of this invention is to provide a control method for a boiler water-cooled wall climbing robot.

[0006] Technical Solution: This invention discloses a boiler water-cooled wall climbing robot, comprising a connecting platform, three sets of support legs mounted in a circular array on the connecting platform and capable of moving across the wall, a rangefinder mounted on the support legs for measuring the travel distance, a cleaning component mounted on the support legs for cleaning the boiler water-cooled wall, an infrared camera mounted on the support legs for real-time imaging of the boiler water-cooled wall, and a repair component mounted on the support legs for repairing the boiler water-cooled wall; the support legs include a connecting frame mounted on the connecting platform and rotatable in the plane of the connecting platform, a connecting arm rotatably connected to one end of the connecting frame extending outside the connecting platform, a transmission arm rotatably connected to the other end of the connecting arm, a support plate movably mounted at the bottom of the transmission arm, and electromagnetic adsorption rollers mounted on the bottom of the support plate and capable of electromagnetic adsorption onto the boiler water-cooled wall when powered on, wherein the support plate is rotatable around its connecting axis with the transmission arm.

[0007] Furthermore, a first motor is fixedly installed on the connecting frame, and the output shaft of the first motor is fixedly connected to the connecting frame; a second motor is fixedly connected to one side of the connecting frame extending outside the connecting platform, and the output shaft of the second motor is fixedly connected to the connecting arm; a third motor is fixedly installed on one side of the transmission arm, and the output shaft of the third motor is fixedly connected to the transmission arm and then rotatably connected to the connecting arm; a fourth motor is fixedly installed at the bottom of the transmission arm, and the output shaft of the fourth motor is fixedly connected to the supporting shelf; two first electric telescopic rods are fixedly installed at the bottom of the supporting shelf, and an electromagnetic adsorption roller is rotatably installed between the movable ends of the two first electric telescopic rods, and a fifth motor is fixedly installed on the movable end of one of the first electric telescopic rods, and the output shaft of the fifth motor is fixedly connected to the central axis of the electromagnetic adsorption roller.

[0008] Furthermore, the connecting platform includes two triangular plates spaced apart vertically, a first damping spring arranged in a ring array between the two triangular plates, and a vibration damping component disposed between the connecting frame and the lower triangular plate and rotatably connected to the connecting frame.

[0009] Furthermore, the damping component includes a support rod whose bottom end is fixedly connected to the triangular plate and whose top end passes through the base plate of the connecting frame, a second damping spring sleeved on the outer periphery of the support rod and located between the connecting frame and the triangular plate, a pin fixedly connected to the top of the support rod, and a buckle disposed on the connecting frame and engaged with the pin to limit the range of motion of the second damping spring.

[0010] Furthermore, the cleaning assembly includes a negative pressure pump fixedly mounted on the support plate, a collection box fixedly mounted on the support plate and connected to the exhaust port of the negative pressure pump through a first delivery pipe, a plurality of second delivery pipes connected to the air inlets of the negative pressure pump, and a vacuum head connected to the other end of the second delivery pipes.

[0011] Furthermore, the cleaning assembly also includes a second electric telescopic rod fixedly connected to the bottom of the support plate, a connecting cover hinged to the bottom end of the second electric telescopic rod, a sixth motor fixedly installed inside the connecting cover, and a brush head fixedly connected to the output shaft of the sixth motor.

[0012] Furthermore, the repair assembly includes a material tank fixedly mounted on a support plate, an air pump fixedly mounted on the support plate and connected to the material tank via a third delivery pipe, multiple fourth delivery pipes connected to the outlet end of the material tank, and a spray nozzle for spraying repair paint connected to the other end of the fourth delivery pipe.

[0013] Furthermore, the repair assembly also includes a seventh motor fixedly installed on the top of the loading tank and a stirring rod fixedly connected to the output shaft of the seventh motor and rotatably installed inside the loading tank.

[0014] Furthermore, a non-damped telescopic rod is fixedly connected to the bottom end of the supporting shelf, and a third damping spring is fixedly connected to the fixed tube of the non-damped telescopic rod. The third damping spring is arranged around the outer periphery of the slide rod of the non-damped telescopic rod. A connecting seat is fixedly connected to one end of the slide rod that extends to the outside of the sleeve. The second conveying pipe and the fourth conveying pipe pass through the connecting seat and are fixedly connected to the connecting seat.

[0015] Based on the same inventive concept, this invention also discloses a control method for a boiler water-cooled wall climbing robot, wherein the robot operates on the boiler water-cooled wall surface as follows:

[0016] Adjust the robot to its initial state: Control the first motors of the three sets of support legs to rotate the connecting frame relative to the triangular plate until the three connecting frames are evenly spaced; Control the second motors of the three sets of support legs to rotate the connecting arm, ensuring that the angle between the connecting arm and the connecting frame is greater than or equal to 90°, and maintain the same angle between the connecting arm and the connecting frame of the three sets of support legs; Control the third motors of the three sets of support legs to rotate the transmission arm relative to the connecting arm until the electromagnetic adsorption roller is perpendicular to the boiler water-cooled wall surface to be worked on.

[0017] When the robot needs to move forward or backward, first adjust the robot to the initial state, then control the fourth motor of the three sets of supporting feet to make the supporting plate drive the electromagnetic adsorption rollers to rotate until the direction of the three sets of electromagnetic adsorption rollers is consistent with the forward and backward directions; simultaneously control the fifth motor of the three sets of supporting feet to make the electromagnetic adsorption rollers rotate and drive the robot to move forward or backward as a whole.

[0018] When the robot needs to turn, first adjust the robot to the initial state, then control the fourth motor of the three sets of support feet respectively, so that the supporting plate drives the electromagnetic adsorption rollers to rotate until the three sets of electromagnetic adsorption rollers rotate to the preset turning direction.

[0019] When it is necessary to clean the boiler water-cooled wall, first adjust the robot to the initial state, then control the robot to move forward, backward, and turn to the designated position. At the same time, start the sixth motor and the negative pressure pump. The sixth motor drives the brush head to rotate and clean the boiler water-cooled wall. After the negative pressure pump is started, the dust and garbage cleaned are collected into the collection box through the dust suction head, the second conveying pipe and the first conveying pipe.

[0020] When it is necessary to repair the water-cooled wall of the boiler, first adjust the robot to the initial state, and then move the robot forward, backward and turn to the designated position. Then start the seventh motor, which drives the stirring rod to rotate and stir the repair paint. The damage of the wall surface where the robot is located is judged by the real-time monitoring of the infrared camera, and the output intensity of the air pump is adjusted according to the damage of the wall surface. After the air pump is started, the repair paint in the loading tank is transported to the fourth conveying pipe through the third conveying pipe. Finally, it is evenly sprayed on the position to be repaired through the nozzle.

[0021] Furthermore, the steps for the robot to cross from the first wall to the second wall perpendicular to the first wall are as follows:

[0022] Adjust the robot to its initial state: Control the first motors of the three sets of supporting legs to rotate the connecting frame relative to the triangular plate until the three connecting frames are evenly spaced; Control the second motors of the three sets of supporting legs to rotate the connecting arm, ensuring that the angle between the connecting arm and the connecting frame is greater than or equal to 90°, and maintain the same angle between the connecting arm and the connecting frame of the three sets of supporting legs; Control the third motors of the three sets of supporting legs to rotate the transmission arm relative to the connecting arm until the electromagnetic adsorption roller is perpendicular to the first wall surface;

[0023] When the robot needs to move forward or backward, first adjust the robot to the initial state, then control the fourth motor of the three sets of supporting feet to make the supporting plate drive the electromagnetic adsorption rollers to rotate until the direction of the three sets of electromagnetic adsorption rollers is consistent with the forward and backward directions; simultaneously control the fifth motor of the three sets of supporting feet to make the electromagnetic adsorption rollers rotate and drive the robot to move forward or backward as a whole.

[0024] When the robot needs to turn, first adjust the robot to the initial state, then control the fourth motor of the three sets of support feet respectively, so that the supporting plate drives the electromagnetic adsorption rollers to rotate until the three sets of electromagnetic adsorption rollers rotate to the preset turning direction.

[0025] Coordinate with the robot to move forward, backward, and turn, so that the robot moves to the designated cross-wall position on the first wall;

[0026] The support foot facing the second wall and located in the middle is named the first support foot, and the other two sets of support feet are named the second support foot and the third support foot, respectively.

[0027] Adjust the first motors of the second and third support feet to adjust the included angle between the second and third support feet to the range (120°, 180°) and make the second and third support feet symmetrically distributed about the first support feet; adjust the fourth motors of the three sets of support feet respectively so that the movement direction of the electromagnetic adsorption rollers is perpendicular to the second wall surface;

[0028] The electromagnetic adsorption roller of the first support foot is de-energized, thereby releasing the adsorption force between the electromagnetic adsorption roller and the first wall surface; the voltage of the electromagnetic adsorption rollers of the second and third support feet is increased, thereby increasing the adsorption force between the electromagnetic adsorption rollers and the first wall surface.

[0029] Adjust the second motor of the first support foot to raise the connecting arm of the first support foot to a specified height, and observe the raising height of the connecting arm through a rangefinder; simultaneously start the electromagnetic adsorption rollers of the second and third support feet to drive the robot toward the second wall until the electromagnetic adsorption roller of the first support foot makes perpendicular contact with the second wall and then stop driving the robot.

[0030] The electromagnetic adsorption roller of the first support foot is energized, so that an adsorption force is generated between the electromagnetic adsorption roller and the second wall surface; the electromagnetic adsorption roller of the second support foot is de-energized, so that the adsorption force between the electromagnetic adsorption roller and the first wall surface is released.

[0031] Adjust the first motor of the first support foot and the third support foot to adjust the included angle between the first support foot and the third support foot to the range (120°, 180°), and make the first support foot and the third support foot symmetrically distributed about the second support foot;

[0032] Adjust the second motor of the second support foot to raise the connecting arm of the second support foot to a specified height, and observe the raising height of the connecting arm through a rangefinder; during the raising of the connecting arm of the second support foot, control the electromagnetic adsorption rollers of the first support foot and the third support foot respectively, so that the electromagnetic adsorption roller of the first support foot moves on the second wall surface and the electromagnetic adsorption roller of the third support foot moves on the first wall surface. During this process, adjust the first motor of the second support foot in coordination with the movement of the first support foot and the third support foot until the electromagnetic adsorption roller of the second support foot is in perpendicular contact with the second wall surface and stops.

[0033] The electromagnetic adsorption roller of the second support foot is energized, so that an adsorption force is generated between the electromagnetic adsorption roller and the second wall surface; the electromagnetic adsorption roller of the third support foot is de-energized, so that the adsorption force between the electromagnetic adsorption roller and the first wall surface is released.

[0034] Adjust the first motor of the first support foot and the second support foot to adjust the included angle between the first support foot and the second support foot to the range (120°, 180°), and make the first support foot and the second support foot symmetrically distributed about the third support foot;

[0035] Adjust the second motor of the third support foot to raise the connecting arm of the third support foot to a specified height, and observe the raising height of the connecting arm using a rangefinder; during the raising of the connecting arm of the third support foot, control the electromagnetic adsorption rollers of the first and second support feet respectively, so that the electromagnetic adsorption rollers of the first and second support feet move on the second wall surface until the electromagnetic adsorption roller of the third support foot stops when it is in perpendicular contact with the second wall surface; energize the electromagnetic adsorption roller of the third support foot so that an adsorption force is generated between the electromagnetic adsorption roller and the second wall surface.

[0036] Beneficial Effects: Compared with existing technologies, this invention has the following significant advantages: The robot of this invention can move across walls, facilitating the cleaning of different boiler walls. Compared to existing methods that rely on manual scaffolding for boiler wall cleaning, this invention improves the safety of workers cleaning boiler walls and achieves higher cleaning efficiency. This invention integrates cleaning, vacuuming, inspection, and repair functions, making it convenient for practical use and enhancing overall usability. Furthermore, vacuuming can be performed simultaneously during the cleaning process, further improving the overall cleaning effect and efficiency. Attached Figure Description

[0037] Figure 1 This is a schematic diagram of the structure of the present invention;

[0038] Figure 2 This is a top view of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of the support plate of the present invention;

[0040] Figure 4 For the present invention Figure 3 Enlarged view of point A in the middle;

[0041] Figure 5 For the present invention Figure 3 Enlarged view of point B in the middle;

[0042] Figure 6 This is a front view of the transmission arm of the present invention;

[0043] Figure 7 For the present invention Figure 6 Sectional view at point AA;

[0044] Figure 8 This is a cross-sectional view of the filling barrel of the present invention;

[0045] Figure 9 This is a cross-sectional view of the connecting cover of the present invention;

[0046] Figure 10 This is a schematic diagram of the connection platform of the present invention;

[0047] Figure 11 For the present invention Figure 10 Enlarged view of point C in the middle;

[0048] Figure 12 This is a schematic diagram of the vibration damping component of the present invention;

[0049] Figure 13 This is a schematic diagram illustrating the robot's movement across a wall in an embodiment of the present invention. Detailed Implementation

[0050] The technical solution of the present invention will be further described below with reference to the accompanying drawings.

[0051] Example 1

[0052] This invention discloses a boiler water-cooled wall climbing robot, such as... Figure 1 and Figure 2 As shown, the system includes a connecting platform, supporting legs, a rangefinder 1, a cleaning component, an infrared camera 2, and a repair component. Three sets of supporting legs are arranged in a circular array on the connecting platform. The three sets of supporting legs work together to overcome obstacles and achieve cross-wall movement. Figure 3 and Figure 4 As shown, rangefinder 1 is installed on the support legs and used to measure the travel distance. The rangefinder 1 setting can better control the robot's walking direction and avoid collisions. The cleaning component is installed on the support legs and used to clean the boiler water-cooled wall. The infrared camera 2 is installed on the support legs and used to capture real-time images of the boiler water-cooled wall. The repair component is installed on the support legs and used to repair the boiler water-cooled wall. The operator judges the damage to the wall surface where the robot is located based on the real-time monitoring image of the infrared camera 2. When the wall surface needs to be repaired, the three sets of support legs cooperate to move the repair component to the wall surface to be repaired, and then control the repair component to repair it.

[0053] like Figure 1 , Figures 10-12As shown, the connecting platform includes a triangular plate 14, a first damping spring 15, a support rod 16, a second damping spring 17, a pin 18, and a buckle 19. Two triangular plates 14 are provided, and multiple first damping springs 15 are provided, arranged in a circular array and fixedly installed between the two triangular plates 14. The support rod 16, the second damping spring 17, the pin 18, and the buckle 19 constitute a vibration damping component, which is located between the connecting frame 3 and the lower triangular plate 14. The bottom of the support rod 16 is fixedly connected to the lower triangular plate 14. The base plate of frame 3 has a through hole for the support rod 16 to pass through, and the connecting frame 3 is rotatably connected to the support rod 16 through this through hole. A second damping spring 17 is arranged around the outer periphery of the support rod 16, and is located between the lower triangular plate 14 and the connecting frame 3. A pin 18 is fixedly installed on the top of the support rod 16, and passes through the through hole of the connecting frame 3. A buckle 19 is provided on the connecting frame 3, and the pin 18 engages with the buckle 19 after passing through the through hole. The pin 18 and the buckle 19 limit the maximum range of motion of the second damping spring 19. During robot movement, if it encounters uneven ground or is struck by external objects, the first damping spring 15 and the second damping spring 17 act as vibration dampers, improving the stability of the robot during movement.

[0054] like Figures 1-3 , Figure 6 , Figure 7 and Figure 10As shown, the support includes a connecting frame 3, a first motor 4, a second motor 5, a connecting arm 6, a transmission arm 7, a third motor 8, a fourth motor 9, a supporting shelf 10, a first electric telescopic rod 11, an electromagnetic adsorption roller 12, and a fifth motor 13. The connecting frame 3 is composed of two fixedly connected U-shaped plate structures, and the transverse portions of the two U-shaped plate structures are cross-fixed. One U-shaped plate structure of the connecting frame 3 is positioned between the upper triangular plate 14 and the second damping spring 17. The second damping spring 17 supports the U-shaped plate structure. The first motor 4 is fixedly mounted on the U-shaped plate structure. The U-shaped plate structure has a mounting hole that matches the output shaft 4 of the first motor. The output shaft of the first motor 4 is fixedly connected to the mounting hole. The first motor 4 is connected to the upper triangular plate 14 through the mounting hole. The top of the output shaft of the first motor 4 is rotatably connected to the upper triangular plate 14. Another U-shaped plate structure of the connecting frame 3 is located outside the two triangular plates 14. The second motor 5 is fixedly mounted on this U-shaped plate structure. One end of the connecting arm 6 extends into the interior of the U-shaped plate structure, and the output shaft of the second motor 5 is fixedly connected to the connecting arm 6. A transmission arm 7 is mounted on the other end of the connecting arm 6. The transmission arm 7 consists of a U-shaped plate and a support cylinder fixedly connected to the bottom of the U-shaped plate. The other end of the connecting arm 6 extends into the interior of the U-shaped plate. A third motor 8 is fixedly mounted on the side of the U-shaped plate, and its output shaft is fixedly connected to the U-shaped plate and then rotatably connected to the connecting arm 6. A fourth motor 9 is fixedly mounted inside the support cylinder. A carrying plate 10 is positioned directly below the transmission arm 7, and the output shaft of the fourth motor 9 is fixedly connected to the carrying plate 10. The first motor 4 allows the connecting arm 6 to rotate relative to the triangular plate 14, thus adjusting the angle between the three sets of supporting legs. The second motor 5 allows the connecting arm 6 to rotate relative to the connecting frame 3, thus controlling the angle between the connecting arm 6 and the connecting frame 3. The third motor 8 allows the transmission arm 7 to rotate relative to the connecting arm 6, thus controlling the angle between the transmission arm 7 and the connecting arm 6. The fourth motor 9 allows the supporting plate 10 to rotate, facilitating the rotation of the electromagnetic adsorption roller 12 and the adjustment of the positions of the cleaning and repair components, i.e., the adjustment of the positions of the vacuum head 24, brush head 28, and spray head 33. The arrangement of the first motor 4, second motor 5, third motor 8, and fourth motor 9 gives the robot multiple degrees of freedom. In actual use, the first motor 4, second motor 5, third motor 8, and fourth motor 9 work together to improve the robot's flexibility during movement.

[0055] Two first electric telescopic rods 11 are provided, and the two first electric telescopic rods 11 are symmetrically installed at the bottom of the supporting shelf 10. Electromagnetic adsorption rollers 12 are rotatably installed between the movable ends of the two first electric telescopic rods 11. A fifth motor 13 is fixedly installed on the movable end of one of the first electric telescopic rods 11, and the output shaft of the fifth motor 13 is fixedly connected to the central shaft of the electromagnetic adsorption roller 12. After the fifth motor 13 is started, it can drive the electromagnetic adsorption roller 12 to rotate forward or backward, and the current output by the fifth motor 13 can energize or de-energize the electromagnetic adsorption roller 12. When energized, the electromagnetic adsorption roller 12 can adsorb onto the boiler wall, and the adsorption force of the electromagnetic adsorption roller 12 when adsorbing the filter wall can be controlled by adjusting the magnitude of the current of the electromagnetic adsorption roller 12. The working principle of the motor-driven electromagnetic adsorption roller is mainly based on the synergistic effect of electromagnetic force and mechanical structure, achieving adsorption and transmission by controlling the magnetic field strength and roller movement. The following is a detailed analysis:

[0056] Electromagnetic adsorption principle: When an energized coil generates a magnetic field, the magnetic force attracts ferromagnetic materials (such as metal surfaces). When the power is turned off, the magnetic field disappears, and the adsorption force dissipates. This principle is similar to the working method of an electromagnetic crane, but it is applied to a roller structure. Roller motion control:

[0057] 1. Magnetic field adjustment: The strength of the magnetic field is changed by adjusting the current intensity, thereby controlling the magnitude of the adsorption force. For example, increasing the current strengthens the magnetic force to fix the roller, while decreasing the current reduces the adsorption force.

[0058] 2. Speed ​​Matching: The roller rotation speed must be coordinated with the rotation speed of the external magnetic field. If the rotation speed is too fast or too slow, it may cause magnetic field misalignment and affect adsorption stability.

[0059] like Figure 1 , Figure 3 and Figure 9As shown, the cleaning assembly includes a negative pressure pump 20, a first delivery pipe 21, a collection box 22, a second delivery pipe 23, a vacuum head 24, a second electric telescopic rod 25, a connecting cover 26, a sixth motor 27, and a brush head 28. The negative pressure pump 20 is fixedly installed on the supporting plate 10, and the collection box 22 is also fixedly installed on the supporting plate 10. The first delivery pipe 21 is connected between the exhaust port of the negative pressure pump 20 and the collection box 22. The connection points of the first delivery pipe 21 with the negative pressure pump 20 and the collection box 22 are fixed with pipe clamps and sealed with waterproof adhesive. The number of second delivery pipes 23 is the same as the number of vacuum heads 24, and the second delivery pipes 23 are connected between the air inlet of the negative pressure pump 20 and the vacuum head 24. The connection points of the second delivery pipes 23 with the negative pressure pump 20 are fixed with pipe clamps and sealed with waterproof adhesive. The second delivery pipes 23 and the vacuum head 24 are detachably connected. After the negative pressure pump 20 is turned on, dust, garbage, etc. are collected into the collection box 22 through the suction head 24, the second conveying pipe 23, and the first conveying pipe 21. The second electric telescopic rod 25 is fixedly connected to the bottom of the supporting shelf 10. The connecting cover 26 is hinged to the bottom end of the second electric telescopic rod 25. The sixth motor 27 is fixedly installed inside the connecting cover 26. The brush head 28 is located directly below the connecting cover 26, and the output shaft of the sixth motor 27 is fixedly connected to the brush head 28. Preferably, the top of the brush head 28 is in rotatable contact with the bottom of the connecting cover 26, and the contact surfaces of the two are provided with matching rotating tracks. After the sixth motor 27 is started, it drives the brush head 26 to rotate and clean the boiler wall. In actual use, the lengths of the two second electric telescopic rods 25 are adjusted so that the brush head 26 can be moved to a suitable height for subsequent cleaning. The sixth motor 27 and the negative pressure pump 20 can be started at the same time. While the brush head 26 cleans the boiler wall, the negative pressure pump 20 collects the cleaned garbage and dust into the collection box 22, which avoids the dust and debris generated during the cleaning process from polluting the inside of the boiler and can improve the overall cleaning effect and cleaning efficiency.

[0060] like Figure 1 , Figure 3 and Figure 8As shown, the repair assembly includes a loading tank 29, a third delivery pipe 30, an air pump 31, a fourth delivery pipe 32, a nozzle 33, a seventh motor 34, and a stirring rod 35. The loading tank 29 is fixedly installed on the supporting plate 10, and the air pump 31 is also fixedly installed on the supporting plate 10. The third delivery pipe 30 is connected between the exhaust port of the air pump 31 and the loading tank 29, and the connection points of the third delivery pipe 30 with the air pump 31 and the loading tank 29 are fixed with pipe clamps and sealed with waterproof adhesive. The number of nozzles 33 is the same as that of the fourth delivery pipe 32. The fourth delivery pipe 32 is connected between the outlet of the loading tank 29 and the nozzle 33, and the connection points of the fourth delivery pipe 32 with the loading tank 29 are fixed with pipe clamps and sealed with waterproof adhesive. The fourth delivery pipe 32 and the nozzle 33 are detachably connected. After the air pump 31 is started, the repair paint inside the loading tank 29 is transported to the fourth loading pipe 32 through the third delivery pipe 30, and finally sprayed evenly onto the boiler wall to be repaired through the nozzle 33. The operator judges the damage to the wall surface where the robot is located based on the real-time monitoring image of the infrared camera 2, and adjusts the spraying intensity and spray volume of the nozzle 33 by controlling the output power of the air pump 31. Preferably, multiple loading tanks 29 are installed on the support plate 10, each loading tank 29 containing a different type of repair paint, which facilitates the actual repair work. The seventh motor 34 is fixedly installed on the top of the loading tank 29, and the stirring rod 35 is set inside the loading tank 29, with the output shaft of the seventh motor 34 extending into the interior of the loading tank 29 and fixedly connected to the stirring rod 35. In actual use, the required repair paint is filled into the loading tank 29 in advance, the seventh motor 34 is started, and the seventh motor 34 drives the stirring rod 35 to rotate and stir the repair paint, improving the uniformity of the repair paint and preventing partial caking of the repair paint, which is conducive to improving the final repair effect. In actual use, different functional nozzles 33 and third and fourth delivery pipes 30 and 32 of different diameters can be replaced according to actual conditions and needs.

[0061] like Figure 3 As shown, a non-damped telescopic rod 36 is fixedly connected to the bottom end of the support plate 10. A third damping spring 37 is fixedly connected to the fixed tube of the non-damped telescopic rod 36, and the third damping spring 37 is arranged around the outer periphery of the slide rod of the non-damped telescopic rod 36. A connecting seat 38 is fixedly connected to one end of the slide rod extending to the outside of the sleeve. The second conveying pipe 23 and the fourth conveying pipe 32 pass through the connecting seat 38 and are fixedly connected to the connecting seat 38. The connecting seat 38 makes the installation of multiple pipes convenient and the conveying process between the pipes is not disturbed. It is not easily damaged and is easy to disassemble and assemble. The non-damped telescopic rod 36 and the third damping spring 37 enable the connecting seat 38 to extend and retract adaptively, avoiding interference between the nozzle 33 and the dust suction head 24 and the protrusion and the boiler water-cooled wall surface during the robot's movement.

[0062] Example 2

[0063] A control method for a boiler water-cooled wall climbing robot, wherein the robot operates on the boiler water-cooled wall surface as follows:

[0064] Adjust the robot to its initial state: Control the first motor 4 of each of the three sets of supporting legs to rotate the connecting frame 3 relative to the triangular plate 14 until the three connecting frames 3 are evenly spaced; Control the second motor 5 of each of the three sets of supporting legs to rotate the connecting arm 6, and make the angle between the connecting arm 6 and the connecting frame 3 greater than or equal to 90°, and keep the angle between the connecting arm 6 and the connecting frame 3 of the three sets of supporting legs consistent; Control the third motor 8 of each of the three sets of supporting legs to rotate the transmission arm 7 relative to the connecting arm 6 until the electromagnetic adsorption roller 12 is perpendicular to the boiler water-cooled wall surface to be worked on;

[0065] When the robot needs to move forward or backward, first adjust the robot to the initial state, then control the fourth motor 9 of the three sets of supporting feet to make the supporting plate 10 drive the electromagnetic adsorption rollers 12 to rotate until the direction of the three sets of electromagnetic adsorption rollers 12 is consistent with the forward and backward direction; simultaneously control the fifth motor 13 of the three sets of supporting feet to make the electromagnetic adsorption rollers 12 rotate and drive the robot to move forward or backward as a whole.

[0066] When the robot needs to turn, first adjust the robot to the initial state, then control the fourth motor 9 of the three sets of support feet respectively, so that the supporting plate 10 drives the electromagnetic adsorption rollers 12 to rotate until the three sets of electromagnetic adsorption rollers 12 rotate to the preset turning direction.

[0067] When it is necessary to clean the boiler water-cooled wall surface, first adjust the robot to the initial state, and then control the robot to move forward, backward and turn to move it to the designated position. At the same time, start the sixth motor 27 and the negative pressure pump 20. The sixth motor 27 drives the brush head 26 to rotate and clean the boiler water-cooled wall surface. After the negative pressure pump 20 is started, the dust and garbage swept up are collected into the collection box 22 through the dust suction head 24, the second conveying pipe 23 and the first conveying pipe 21.

[0068] When the boiler water-cooled wall needs to be repaired, the robot is first adjusted to its initial state. Then, the robot is moved to the designated position by controlling its forward, backward, and turning movements. The seventh motor 34 is then started, which drives the stirring rod 35 to rotate and stir the repair paint. The damage to the wall surface where the robot is located is judged by the real-time monitoring image of the infrared camera 2. Based on the damage to the wall surface, the output intensity of the air pump 31 is adjusted. After the air pump 31 is started, the repair paint inside the loading tank 29 is transported to the fourth conveying pipe 32 through the third conveying pipe 30. Finally, the paint is evenly sprayed onto the position to be repaired through the nozzle 33.

[0069] The steps for the robot to cross from the first wall to the second wall, which is perpendicular to the first wall, are as follows:

[0070] like Figure 13 As shown, a three-dimensional coordinate system is established, with the plane containing the y-axis as the first wall and the plane containing the z-axis as the second wall.

[0071] Adjust the robot to its initial state: Control the first motor 4 of each of the three sets of supporting legs to rotate the connecting frame 3 relative to the triangular plate 14 until the three connecting frames 3 are evenly spaced; Control the second motor 5 of each of the three sets of supporting legs to rotate the connecting arm 6, and make the angle between the connecting arm 6 and the connecting frame 3 greater than or equal to 90°, and keep the angle between the connecting arm 6 and the connecting frame 3 of the three sets of supporting legs consistent; Control the third motor 8 of each of the three sets of supporting legs to rotate the transmission arm 7 relative to the connecting arm 6 until the electromagnetic adsorption roller 12 is perpendicular to the first wall surface;

[0072] When the robot needs to move forward or backward, first adjust the robot to the initial state, then control the fourth motor 9 of the three sets of supporting feet to make the supporting plate 10 drive the electromagnetic adsorption rollers 12 to rotate until the direction of the three sets of electromagnetic adsorption rollers 12 is consistent with the forward and backward direction; simultaneously control the fifth motor 13 of the three sets of supporting feet to make the electromagnetic adsorption rollers 12 rotate and drive the robot to move forward or backward as a whole.

[0073] When the robot needs to turn, first adjust the robot to the initial state, then control the fourth motor 9 of the three sets of support feet respectively, so that the supporting plate 10 drives the electromagnetic adsorption rollers 12 to rotate until the three sets of electromagnetic adsorption rollers 12 rotate to the preset turning direction.

[0074] In coordination with the robot's forward, backward, and turning movements, the robot is moved to a designated cross-wall position on the first wall; that is, the robot is controlled to move to... Figure 13 (a)

[0075] The support foot directly opposite the second wall and located in the middle is named the first support foot, and the other two sets of support feet are named the second support foot and the third support foot, respectively; for example... Figure 13 As shown in (b) to (h), the first support leg is divided into three sections according to its degrees of freedom. The part between the first motor 4 and the second motor 5 of the first support leg is labeled as movable arm 1, the part between the second motor 5 and the third motor 8 of the first support leg is labeled as movable arm 7, and the part below the third motor 9 of the first support leg is labeled as movable arm 4. The part between the first motor 4 and the second motor 5 of the second support leg is labeled as movable arm 2, the part between the second motor 5 and the third motor 8 of the second support leg is labeled as movable arm 8, and the part below the third motor 9 of the second support leg is labeled as movable arm 5. The part between the first motor 4 and the second motor 5 of the third support leg is labeled as movable arm 3, the part between the second motor 5 and the third motor 8 of the third support leg is labeled as movable arm 9, and the part below the third motor 9 of the third support leg is labeled as movable arm 6. Figure 13In (b) to (h), the blue circle B represents the degree of freedom where the angle between adjacent movable arms is adjustable, and the orange circle A represents the degree of freedom where the angle between adjacent support feet is adjustable.

[0076] Adjust the first motor 4 of the second and third support feet to adjust the included angle between the second and third support feet to the range (120°, 180°), and make the second and third support feet symmetrically distributed about the first support foot; adjust the fourth motor 9 of the three sets of support feet respectively so that the movement direction of the electromagnetic adsorption roller 12 is perpendicular to the second wall surface, that is, the movement direction of the electromagnetic adsorption roller 12 is consistent with the negative y-axis direction, such as... Figure 13 As shown in (b).

[0077] The electromagnetic adsorption roller 12 of the first support foot is de-energized, thereby releasing the adsorption force between the electromagnetic adsorption roller 12 and the first wall surface; the voltage of the electromagnetic adsorption roller 12 of the second and third support feet is increased, thereby increasing the adsorption force between the electromagnetic adsorption roller 12 and the first wall surface.

[0078] like Figure 13 As shown in (c), the movable arm 1 is slowly raised, that is, the second motor 5 of the first support foot is adjusted so that the connecting arm 6 of the first support foot is raised to a specified height, and the raising height of the connecting arm 6 is observed by the rangefinder 1; during this process, the movable arms 2 and 5, and the movable arms 3 and 6 move slowly in parallel along the negative y-axis, that is, the electromagnetic adsorption rollers 12 of the second and third support feet are activated simultaneously, driving the robot to move towards the second wall until the electromagnetic adsorption rollers 12 of the first support foot are in perpendicular contact with the second wall, that is, the robot stops moving when the movable arm 4 is perpendicular to the second wall. Figure 13 As shown in (d), this completes a set of cross-wall movements of the supporting foot.

[0079] The electromagnetic adsorption roller 12 of the first support foot is energized, so that an adsorption force is generated between the electromagnetic adsorption roller 12 and the second wall surface; the electromagnetic adsorption roller 12 of the second support foot is de-energized, so that the adsorption force between the electromagnetic adsorption roller 12 and the first wall surface is released.

[0080] Adjust the first motor 4 of the first support foot and the third support foot to adjust the included angle between the first support foot and the third support foot to the range (120°, 180°) and make the first support foot and the third support foot symmetrically distributed about the second support foot.

[0081] like Figure 13As shown in (e), the movable arm 2 is slowly raised, that is, the second motor 5 of the second support foot is adjusted, so that the connecting arm 6 of the second support foot is raised to a specified height, and the raised height of the connecting arm 6 is observed by the rangefinder 1; during the raising of the connecting arm 6 of the second support foot, the movable arms 1 and 4 move slowly along the positive z-axis, and the movable arms 3 and 6 move slowly along the negative y-axis, that is, the electromagnetic adsorption rollers 12 of the first support foot and the third support foot are controlled respectively, so that the electromagnetic adsorption rollers 12 of the first support foot move on the second wall surface and the electromagnetic adsorption rollers 12 of the third support foot move on the first wall surface. During this process, the first motor 4 of the second support foot is adjusted in coordination with the movement of the first and third support feet, that is, the circumferential rotation of the orange circle A on the upper part of the movable arm 8 is adjusted in coordination with the movement of the second support foot, so as to prevent the second support foot from affecting the movement of the first and third support feet, until the electromagnetic adsorption rollers 12 of the second support foot are in perpendicular contact with the second wall surface, that is, the movable arm 5 is in perpendicular contact with the second wall surface. Figure 13 As shown in (f); at this point, the cross-wall motion of the two sets of supporting feet has been completed.

[0082] The electromagnetic adsorption roller 12 of the second support foot is energized, so that an adsorption force is generated between the electromagnetic adsorption roller 12 and the second wall surface; the electromagnetic adsorption roller 12 of the third support foot is de-energized, so that the adsorption force between the electromagnetic adsorption roller 12 and the first wall surface is released.

[0083] Adjust the first motor 4 of the first support foot and the second support foot to adjust the included angle between the first support foot and the second support foot to the range (120°, 180°) and make the first support foot and the second support foot symmetrically distributed about the third support foot.

[0084] like Figure 13 As shown in (g), the movable arm 3 is slowly raised, that is, the second motor 5 of the third support foot is adjusted so that the connecting arm 6 of the third support foot is raised to a specified height, and the raising height of the connecting arm 6 is observed by the rangefinder 1; during the raising of the connecting arm 6 of the third support foot, the movable arms 1 and 4, and the movable arms 2 and 5 move slowly along the positive z-axis, that is, the electromagnetic adsorption rollers 12 of the first support foot and the second support foot are controlled respectively, so that the electromagnetic adsorption rollers 12 of the first support foot and the second support foot move on the second wall surface until the electromagnetic adsorption rollers 12 of the third support foot are in perpendicular contact with the second wall surface, that is, the movable arm 6 stops when it is in perpendicular contact with the second wall surface. Figure 13 As shown in (h), the electromagnetic adsorption roller 12 of the third support foot is energized, causing an adsorption force to be generated between the electromagnetic adsorption roller 12 and the second wall surface. This completes the robot's wall-crossing movement.

[0085] In summary, the process of a robot moving across a wall typically includes the following stages: First, in the initial state, the robot's three sets of supporting legs adhere to the current wall (e.g., the first wall), and the robot's center of gravity is located inside the supporting triangle it forms, ensuring static stability. When a change in the orientation of the target wall is detected (transfer to an adjacent vertical surface, such as the second wall), the operator or the existing path planning system identifies the angle between the two walls and plans a transition path based on the detection results of the rangefinder 1. To maintain stability, the robot ensures that at least two sets of supporting legs are always in an adhering state throughout the entire movement process. Before one set of supporting legs is lifted, the angle between the other two sets of supporting legs needs to be widened to ensure stable standing. At the same time, the current is increased to increase the adsorption force between the electromagnetic adsorption rollers 12 of the two sets of supporting legs and the wall, making the adsorption stronger and ensuring that it is not easy to tip over. Then, the power to one set of supporting legs is turned off to release the adsorption force, thereby slowly lifting and moving along a predetermined trajectory to a suitable attachment point on the new wall (the second wall), where the power is turned on again for adsorption. This completes the process of one set of supporting legs crossing the wall. After the three sets of supporting legs have repositioned, the robot's torso adjusts its posture through overall rotation or coordinated movement of the two sets of supporting legs, aligning the robot body with the target wall surface. The process is repeated: the angle between the two sets of supporting legs is increased, and the suction force at the bottom of the electromagnetic adsorption rollers 12 is increased to ensure stability. Then, one set of supporting legs is lifted to cross the wall. Finally, both sets of supporting legs are fully attached to the new wall surface (the second wall), the robot regains stability, and continues to walk along the new surface. During this process, the robot enters a phase where each drive shaft can be switched sequentially and freely. Operators can control the corresponding fourth motor 9 to rotate horizontally, changing the orientation of movable arms 4, 2, and 3, and adjusting the posture and angle of each arm to adapt to the geometric relationships between different surfaces. The entire process, considering both the suction force and the changes in the standing position of the two sets of supporting legs, avoids the problem of the robot detaching during wall crossing.

Claims

1. A boiler water-cooled wall climbing robot, characterized in that: The system includes a connecting platform, three sets of support feet mounted in a ring array on the connecting platform that can move across the wall, a rangefinder (1) mounted on the support feet for measuring the travel distance, a cleaning component mounted on the support feet for cleaning the boiler water-cooled wall, an infrared camera (2) mounted on the support feet for real-time imaging of the boiler water-cooled wall, and a repair component mounted on the support feet for repairing the boiler water-cooled wall. The support feet include a connecting frame (3) mounted on the connecting platform and rotatable in the plane of the connecting platform, a connecting arm (6) rotatably connected to one end of the connecting frame (3) extending to the outside of the connecting platform, a transmission arm (7) rotatably connected to the other end of the connecting arm (6), a carrying plate (10) movably mounted at the bottom of the transmission arm (7), and an electromagnetic adsorption roller (12) mounted at the bottom of the carrying plate (10) and electromagnetically adsorbed onto the boiler water-cooled wall after being powered on. The carrying plate (10) can rotate around its connecting axis with the transmission arm (7).

2. The boiler water-cooled wall climbing robot according to claim 1, characterized in that: A first motor (4) is fixedly installed on the connecting frame (3), and the output shaft of the first motor (4) is fixedly connected to the connecting frame (3); a second motor (5) is fixedly connected to one side of the connecting frame (3) extending to the outside of the connecting platform, and the output shaft of the second motor (5) is fixedly connected to the connecting arm (6); a third motor (8) is fixedly installed on one side of the transmission arm (7), and the output shaft of the third motor (8) is fixedly connected to the transmission arm (7) and then rotatably connected to the connecting arm (6); a fourth motor (9) is fixedly installed at the bottom of the transmission arm (7), and the output shaft of the fourth motor (9) is fixedly connected to the carrying plate (10); two first electric telescopic rods (11) are fixedly installed at the bottom of the carrying plate (10), and an electromagnetic adsorption roller (12) is rotatably installed between the movable ends of the two first electric telescopic rods (11), and a fifth motor (13) is fixedly installed on the movable end of one of the first electric telescopic rods (11), and the output shaft of the fifth motor (13) is fixedly connected to the central axis of the electromagnetic adsorption roller (12).

3. The boiler water-cooled wall climbing robot according to claim 1, characterized in that: The connecting platform includes two triangular plates (14) spaced apart vertically, a first damping spring (15) in a ring array installed between the two triangular plates (14), and a damping component disposed between the connecting frame (3) and the lower triangular plate (14) and rotatably connected to the connecting frame (3).

4. The boiler water-cooled wall climbing robot according to claim 2, characterized in that: The damping component includes a support rod (16) whose bottom end is fixedly connected to the triangular plate (14) and whose top end passes through the bottom plate of the connecting frame (3), a second damping spring (17) sleeved on the outer periphery of the support rod (16) and located between the connecting frame (3) and the triangular plate (14), a pin (18) fixedly connected to the top of the support rod (16), and a buckle (19) provided on the connecting frame (3) and engaged with the pin (18) to limit the range of motion of the second damping spring (17).

5. The boiler water-cooled wall climbing robot according to claim 1, characterized in that: The cleaning assembly includes a negative pressure pump (20) fixedly mounted on a support plate (10), a collection box (22) connected to the exhaust port of the negative pressure pump (20) via a first delivery pipe (21) and fixedly mounted on the support plate (10), a plurality of second delivery pipes (23) connected to the air inlets of the negative pressure pump (20), and a vacuum head (24) connected to the other end of the second delivery pipes (23).

6. The boiler water-cooled wall climbing robot according to claim 5, characterized in that: The cleaning assembly also includes a second electric telescopic rod (25) fixedly connected to the bottom of the support plate (10), a connecting cover (26) hinged to the bottom end of the second electric telescopic rod (25), a sixth motor (27) fixedly installed inside the connecting cover (26), and a brush head (28) fixedly connected to the output shaft of the sixth motor (27).

7. The boiler water-cooled wall climbing robot according to claim 5, characterized in that: The repair assembly includes a loading tank (29) fixedly mounted on a support plate (10), an air pump (31) fixedly mounted on the support plate (10) and connected to the loading tank (29) via a third delivery pipe (30), multiple fourth delivery pipes (32) connected to the outlet end of the loading tank (29), a spray nozzle (33) for spraying repair paint connected to the other end of the fourth delivery pipe (32), a seventh motor (34) fixedly mounted on the top of the loading tank (29), and a stirring rod (35) fixedly connected to the output shaft of the seventh motor (34) and rotatably mounted inside the loading tank (29).

8. The boiler water-cooled wall climbing robot according to claim 6, characterized in that: The bottom end of the support plate (10) is fixedly connected to an undamped telescopic rod (36). A third damping spring (37) is fixedly connected to the fixed tube of the undamped telescopic rod (36). The third damping spring (37) is arranged around the outer periphery of the slide rod of the undamped telescopic rod (36). A connecting seat (38) is fixedly connected to one end of the slide rod that extends to the outside of the sleeve. The second conveying pipe (23) and the fourth conveying pipe (32) pass through the connecting seat (38) respectively and are fixedly connected to the connecting seat (38).

9. A control method for a boiler water-cooled wall climbing robot according to any one of claims 1 to 8, characterized in that: The robot operates on the water-cooled wall surface of the boiler in the following way: Adjust the robot to the initial state: control the first motor (4) of the three sets of support feet to rotate the connecting frame (3) relative to the triangular plate (14) until the three connecting frames (3) are evenly distributed; control the second motor (5) of the three sets of support feet to rotate the connecting arm (6) and make the angle between the connecting arm (6) and the connecting frame (3) greater than or equal to 90°, and keep the angle between the connecting arm (6) and the connecting frame (3) of the three sets of support feet consistent; control the third motor (8) of the three sets of support feet to rotate the transmission arm (7) relative to the connecting arm (6) until the electromagnetic adsorption roller (12) is perpendicular to the boiler water-cooled wall surface to be operated; When the robot needs to move forward or backward, first adjust the robot to the initial state, then control the fourth motor (9) of the three sets of support feet respectively, so that the supporting plate (10) drives the electromagnetic adsorption roller (12) to rotate until the direction of the three sets of electromagnetic adsorption roller (12) is consistent with the forward and backward direction; simultaneously control the fifth motor (13) of the three sets of support feet, so that the electromagnetic adsorption roller (12) rotates and drives the robot to move forward or backward as a whole; When the robot needs to turn, first adjust the robot to the initial state, and then control the fourth motor (9) of the three sets of support feet respectively, so that the support plate (10) drives the electromagnetic adsorption roller (12) to rotate until the three sets of electromagnetic adsorption roller (12) rotate to the preset turning direction. When it is necessary to clean the boiler water-cooled wall surface, first adjust the robot to the initial state, and then control the robot to move forward, backward and turn to move it to the designated position. At the same time, start the sixth motor (27) and the negative pressure pump (20). The sixth motor (27) drives the brush head (26) to rotate and clean the boiler water-cooled wall surface. After the negative pressure pump (20) is started, the dust, garbage and other debris that are cleaned are collected into the collection box (22) through the dust suction head (24), the second conveying pipe (23) and the first conveying pipe (21). When it is necessary to repair the water-cooled wall of the boiler, first adjust the robot to the initial state, and then move the robot forward, backward and turn to the designated position. Then start the seventh motor (34). The seventh motor (34) drives the stirring rod (35) to rotate and stir the repair paint. The damage of the wall where the robot is located is judged by the real-time monitoring screen of the infrared camera (2). Based on the damage of the wall, the output intensity of the air pump (31) is adjusted. After starting the air pump (31), the repair paint inside the loading tank (29) is transported to the fourth conveying pipe (32) through the third conveying pipe (30). Finally, it is evenly sprayed on the position to be repaired through the nozzle (33).

10. The control method for the boiler water-cooled wall climbing robot according to claim 9, characterized in that: The steps for the robot to cross from the first wall to the second wall, which is perpendicular to the first wall, are as follows: Adjust the robot to the initial state: control the first motor (4) of each of the three sets of supporting feet to rotate the connecting frame (3) relative to the triangular plate (14) until the three connecting frames (3) are evenly distributed; control the second motor (5) of each of the three sets of supporting feet to rotate the connecting arm (6) and make the angle between the connecting arm (6) and the connecting frame (3) greater than or equal to 90°, and keep the angle between the connecting arm (6) and the connecting frame (3) of the three sets of supporting feet consistent; control the third motor (8) of each of the three sets of supporting feet to rotate the transmission arm (7) relative to the connecting arm (6) until the electromagnetic adsorption roller (12) is perpendicular to the first wall surface; When the robot needs to move forward or backward, first adjust the robot to the initial state, then control the fourth motor (9) of the three sets of support feet respectively, so that the supporting plate (10) drives the electromagnetic adsorption roller (12) to rotate until the direction of the three sets of electromagnetic adsorption roller (12) is consistent with the forward and backward direction; simultaneously control the fifth motor (13) of the three sets of support feet, so that the electromagnetic adsorption roller (12) rotates and drives the robot to move forward or backward as a whole; When the robot needs to turn, first adjust the robot to the initial state, and then control the fourth motor (9) of the three sets of support feet respectively, so that the support plate (10) drives the electromagnetic adsorption roller (12) to rotate until the three sets of electromagnetic adsorption roller (12) rotate to the preset turning direction. Coordinate with the robot to move forward, backward, and turn, so that the robot moves to the designated cross-wall position on the first wall; The support foot facing the second wall and located in the middle is named the first support foot, and the other two sets of support feet are named the second support foot and the third support foot, respectively. Adjust the first motor (4) of the second and third support feet to adjust the included angle between the second and third support feet to the range (120°, 180°) and make the second and third support feet symmetrically distributed about the first support feet; adjust the fourth motor (9) of the three sets of support feet respectively so that the movement direction of the electromagnetic adsorption roller (12) is perpendicular to the second wall surface; The electromagnetic adsorption roller (12) of the first support foot is de-energized, thereby releasing the adsorption force between the electromagnetic adsorption roller (12) and the first wall surface; the voltage of the electromagnetic adsorption roller (12) of the second and third support feet is increased, thereby increasing the adsorption force between the electromagnetic adsorption roller (12) and the first wall surface. Adjust the second motor (5) of the first support foot to raise the connecting arm (6) of the first support foot to a specified height, and observe the raising height of the connecting arm (6) through the rangefinder (1); The electromagnetic adsorption rollers (12) of the second and third support feet are activated simultaneously to drive the robot toward the second wall until the electromagnetic adsorption rollers (12) of the first support foot make perpendicular contact with the second wall and then the robot stops being driven. The electromagnetic adsorption roller (12) of the first support foot is energized, so that an adsorption force is generated between the electromagnetic adsorption roller (12) and the second wall surface; the electromagnetic adsorption roller (12) of the second support foot is de-energized, so that the adsorption force between the electromagnetic adsorption roller (12) and the first wall surface is released. Adjust the first motor (4) of the first support foot and the third support foot to adjust the included angle between the first support foot and the third support foot to the range (120°, 180°) and make the first support foot and the third support foot symmetrically distributed about the second support foot; Adjust the second motor (5) of the second support foot to raise the connecting arm (6) of the second support foot to a specified height, and observe the raising height of the connecting arm (6) through the rangefinder (1); During the lifting process of the connecting arm (6) of the second support foot, the electromagnetic adsorption rollers (12) of the first support foot and the third support foot are controlled respectively, so that the electromagnetic adsorption rollers (12) of the first support foot move on the second wall surface and the electromagnetic adsorption rollers (12) of the third support foot move on the first wall surface. During this process, the first motor (4) of the second support foot is adjusted in coordination with the movement of the first support foot and the third support foot until the electromagnetic adsorption rollers (12) of the second support foot are in perpendicular contact with the second wall surface. The electromagnetic adsorption roller (12) of the second support foot is energized, so that an adsorption force is generated between the electromagnetic adsorption roller (12) and the second wall surface; the electromagnetic adsorption roller (12) of the third support foot is de-energized, so that the adsorption force between the electromagnetic adsorption roller (12) and the first wall surface is released. Adjust the first motor (4) of the first support foot and the second support foot to adjust the included angle between the first support foot and the second support foot to the range (120°, 180°) and make the first support foot and the second support foot symmetrically distributed about the third support foot; Adjust the second motor (5) of the third support foot to raise the connecting arm (6) of the third support foot to a specified height, and observe the raising height of the connecting arm (6) through the rangefinder (1); During the lifting process of the connecting arm (6) of the third support foot, the electromagnetic adsorption rollers (12) of the first support foot and the second support foot are controlled respectively to move the electromagnetic adsorption rollers (12) of the first support foot and the second support foot on the second wall surface until the electromagnetic adsorption roller (12) of the third support foot is in perpendicular contact with the second wall surface and stops; the electromagnetic adsorption roller (12) of the third support foot is energized so that an adsorption force is generated between the electromagnetic adsorption roller (12) and the second wall surface.

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