Modular wall-climbing robot and working method

Abstract

The invention belongs to the technical field of wall-climbing robots, and relates to a modular wall-climbing robot and a working method.A rust removal and recovery system is installed below a supporting and fixing system, and a driving system adjusts the working form of the driving system by adjusting the connecting mode of a first form mounting flange and a second form mounting flange with the supporting and fixing system; the tire locking system is installed on driving wheels of the driving system and used for controlling power input and interruption of the driving wheels on the two sides of the robot. The magnetic adsorption system is installed on the driving system and used for adsorption operation of the robot on the working wall face and adjustment of the adsorption force. The robot can be suitable for operation on the inner and outer walls of a storage tank and the edge of an obstacle, the magnetic adsorption strength can be adjusted by adjusting the number of gaskets on the front wheel magnetic adsorption system and the rear wheel magnetic adsorption system, and the adsorption stability of the robot is improved; tire slipping is avoided, tire abrasion is reduced, and the stability and accuracy of the wall-climbing robot during operation are improved.

Description

Technical Field

[0001] This invention belongs to the field of wall-climbing robot technology, specifically relating to a modular wall-climbing robot and its working method. Background Technology

[0002] Wall-climbing robots are widely used on large-area steel structures such as petrochemical storage tanks, ships, and offshore mining platforms, especially for rust removal on the walls of these structures. Currently, the rust removal system of wall-climbing robots is usually fixedly connected to the drive system, sandwiched between two drive systems. The rust removal system is connected to an ultra-high-pressure water jet and a vacuum recovery pump. In the drive system, the motor is connected to a reducer, the reducer is connected to a commutator, and the commutator is connected to two drive wheels. When removing rust from the edges of obstacles, or from the inner and outer walls of storage tanks, the tanks are mostly cylindrical, and the curvature of the inner and outer walls differs. Due to the fixed connection of the rust removal system between the two drive systems, the rust removal operation of the wall-climbing robot is uneven on walls with different curvatures, which can easily lead to missed rust removal or errors.

[0003] Disadvantages of existing technology:

[0004] (1) The two wheels of the drive system are directly fixed and locked to the shaft. In actual rotation, the inner wheel and the outer wheel move different distances, but the wheel rotates the same distance. This leads to wheel slippage and increased wear.

[0005] (2) Because the rust removal system is sandwiched between two drive systems, if there is an obstacle on the side of the robot, the drive system will obstruct the rust removal work at the edge of the obstacle.

[0006] (3) When removing rust from chemical storage tanks, since most of the tanks are cylindrical and the curvature of the inner and outer walls is different, the rust removal system is fixedly connected between two drive systems. This results in uneven contact surfaces and forces on the inner and outer walls of the wall-climbing robot's drive system. In addition, the distance between the high-pressure water jet nozzle and the wall surface is also different, which makes it impossible to remove rust evenly and results in errors. Summary of the Invention

[0007] The purpose of this invention is to provide a modular wall-climbing robot and its working method that has an adjustable driving mode, avoids slippage, reduces wear, and can adapt to various working scenarios.

[0008] The technical solution adopted by this invention to solve its technical problem is: a modular wall-climbing robot, comprising:

[0009] The support and fixing system is used to install and support the entire robot structure. The support and fixing system includes a horizontally arranged main support tube, with two drive systems symmetrically installed at both ends of the main support tube.

[0010] The rust removal and recycling system is installed below the support and fixing system and is used for rust removal, cleaning and recycling operations.

[0011] The drive system is used for the input and transmission of robot power and to control the robot's movement and steering. The drive system includes two sets of drive wheels and two sets of driven wheels arranged symmetrically. The top of the drive system is provided with a second-form mounting flange, and the side wall of the drive system is provided with a first-form mounting flange. Both the first-form and second-form mounting flanges are adapted to the ends of the main support tube. The drive system can adjust its working form by adjusting the connection between the first-form and second-form mounting flanges and the main support tube.

[0012] The tire locking system, installed on the drive wheels of the drive system, is used to control the power input and interruption to the drive wheels on both sides of the robot.

[0013] The magnetic adsorption system, installed on the drive system, is used by the robot to perform adsorption operations on the working surface and to adjust the adsorption force.

[0014] Furthermore, the rust removal and recovery system includes a rotating body mounted on a fixed support. Several height adjustment shims are installed between the rotating body and the fixed support. The output shaft of the rotating body is connected to an ultra-high pressure water jet cutter head, which is located inside a sealing cover. The fixed support is mounted on the top of the sealing cover via a horizontal mounting plate for the rust removal disc. A brush disc is fitted at the bottom of the sealing cover, and a sealing ring is installed between the brush disc and the sealing cover. The outer side of the sealing ring is secured with rubber clamps. Several spring positioning brackets are installed on the outer wall of the sealing cover, and a spring is installed on each spring positioning bracket. The other end of the spring is installed on the brush disc below. Several springs form a spring group that applies uniform pressure to the brush disc. Three recovery pipes are installed through an opening at the top of the sealing cover. The three recovery pipes are simultaneously connected to a recovery pipe four-way connector and secured with fixing clamps. An electrical control box mounting plate is installed on the sealing cover, and the electrical control box is fixedly mounted on the mounting plate.

[0015] Preferably, the rotating body is an electric motor, which drives the ultra-high pressure water jet cutter head to rotate, and the electrical control box is used to supply power and control the rust removal and recovery system.

[0016] Furthermore, the rust removal and recycling system is fixedly connected to the middle of the main support pipe. Openings are provided on the side walls at both ends of the main support pipe for installing fixing pins. Both the first and second form mounting flanges are inserted into the ends of the main support pipe and are detachably connected via several fixing pins and cotter pins. A handle mounting plate is fixedly installed on the main support pipe via a handle mounting flange, and a hand handle is fixedly installed at the upper end of the handle mounting plate. A rust removal system mounting flange, a rust removal disc vertical support plate, and a recycling system fixing frame are sequentially installed on the main support pipe. These components are fitted together and fixed with bolts. The rust removal system mounting flange is used to fix the rust removal disc vertical support plate and the recycling system fixing frame onto the main support pipe. The recycling system fixing frame is fixedly connected to the recycling pipe four-way connector, and the rust removal disc vertical support plate is fixedly connected to the rust removal disc horizontal mounting plate.

[0017] Furthermore, the drive system includes a drive motor, a reducer, a commutator, a wheel frame, and a wheel system. The drive motor, reducer, commutator, and wheel system are all mounted on the wheel frame. The wheel system includes two sets of drive wheels symmetrically mounted on the front side of the wheel frame and two sets of driven wheels symmetrically mounted on the rear side of the wheel frame. The output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the input shaft of the commutator. The output shaft of the commutator is connected to the drive wheels through a tire locking system.

[0018] Furthermore, the drive wheel is connected to a tire locking system, which includes an external button, an inner spline flange of the drive wheel, an inner spline flange of the output shaft, and an output shaft flange. The output shaft flange is fixedly connected to the output shaft of the drive system, specifically, the output shaft flange is fixedly connected to the output shaft of the commutator. The inner spline flange of the output shaft is fixedly connected to the output shaft flange. The inner spline flange of the drive wheel is located to the left of the inner spline flange of the output shaft, and the drive wheel is sleeved on the outside of the inner spline flange of the output shaft. The outer spline of the external button is always engaged with the inner spline on the inner spline flange of the output shaft, and the external button can slide arbitrarily along the axial direction. The inner spline flange of the drive wheel and the drive wheel are connected by a method... The outer spline of the outer button controls the input and interruption of power. When the outer spline of the outer button moves to the left, it engages simultaneously with the inner splines of the drive wheel inner spline flange and the output shaft inner spline flange. The drive wheel inner spline flange and the output shaft inner spline flange are indirectly connected through the outer button. Power is transmitted to the drive wheel sequentially through the output shaft flange, the output shaft inner spline flange, the outer button, and the drive wheel inner spline flange, driving the robot to move. When the outer spline of the outer button moves to the right, it engages only with the inner spline on the output shaft inner spline flange. The outer spline of the outer button is disconnected from the drive wheel inner spline flange, and the power transmission is interrupted.

[0019] Furthermore, the tire locking system also includes an inner button, an inner button spring, an outer button spring, a wear-resistant gasket, an inner button axial positioning sleeve, an outer button axial positioning sleeve, a thin-walled bearing, a bushing, and a button end cap. The wear-resistant gasket and bushing are installed between the inner spline flange of the drive wheel and the inner spline flange of the output shaft. The thin-walled bearing is installed between the drive wheel and the inner spline flange of the output shaft to prevent dry friction between the drive wheel and the inner spline flange of the output shaft after power is disconnected. The inner button is installed inside the outer button. The axial movement of the inner button and the outer button is controlled by the inner button spring. One end of the inner button spring is held by the shoulder of the inner button, and the other end of the inner button spring is held by the countersunk seat of the outer button. The other end of the inner button mates with the inner button axial positioning sleeve, and the other end of the outer button mates with the outer button axial positioning sleeve. One end of the outer button spring mates with the output shaft flange, and the other end of the outer button spring mates with the outer button axial positioning sleeve to control the axial displacement of the output shaft flange and the outer button axial positioning sleeve. The button end cap is installed on the inner spline flange of the drive wheel, and the inner wall of the button end cap mates with the outer button.

[0020] Furthermore, the tire locking system also includes steel balls. The rotating surface of the outer button axial positioning sleeve and the rotating surface of the output shaft flange are both provided with holes adapted to the steel balls. The inner button axial positioning sleeve has an inner rounded corner adapted to the steel balls on the side facing the outer button axial positioning sleeve. The inner button, outer button, inner button spring, outer button spring, inner button axial positioning sleeve, and outer button axial positioning sleeve cooperate to realize the movement and locking of the steel balls.

[0021] Furthermore, in the initial state, the steel ball is located in the hole on the rotating surface of the outer button axial positioning sleeve. The outer side of the inner button axial positioning sleeve is provided with an inner rounded corner. Under the thrust of the inner button spring, the steel ball is pressed into the hole of the outer button axial positioning sleeve. At this time, the outer spline of the outer button is simultaneously engaged with the inner spline flange of the drive wheel and the inner spline flange of the output shaft, and the power can be output through the drive wheel.

[0022] When the outer button is pressed, the outer button axial positioning sleeve moves to the right and compresses the outer button spring. Because there is a steel ball on the right side restricting the axial position of the inner button axial positioning sleeve, the outer button axial positioning sleeve moves the inner button to the right through the inner button axial positioning sleeve. The rotating surface of the output shaft flange also has two holes. When the hole on the rotating surface of the outer button axial positioning sleeve reaches the position coaxial with the hole on the rotating surface of the output shaft flange, the steel ball is pushed between the outer button axial positioning sleeve and the output shaft flange by the thrust of the inner button spring. The inner button spring extends, the inner button axial positioning sleeve moves to the left, and the outer wall of the inner button axial positioning sleeve presses the steel ball between the outer button axial positioning sleeve and the output shaft flange to prevent it from coming out. At this time, the inner button extends and the outer button retracts. At this time, the outer button is fixed on the right side. The outer button is only engaged with the inner spline flange of the output shaft. The outer button is disconnected from the inner spline flange of the drive wheel, and power cannot be transmitted to the drive wheel.

[0023] When the inner button is pressed, the axial positioning sleeve of the inner button moves to the right, making room for the steel ball. The steel ball returns to the space between the axial positioning sleeve of the inner button and the axial positioning sleeve of the outer button. There is no steel ball fixing between the axial positioning sleeve of the outer button and the output shaft flange. The spring of the outer button extends, pushing the outer button and the inner button back to their original positions. The outer spline of the outer button re-engages with the inner spline flange of the drive wheel, and power is input again and output through the drive wheel. The outer button extends.

[0024] Furthermore, the magnetic adsorption system includes a front wheel magnetic adsorption system and a rear wheel magnetic adsorption system. The front wheel magnetic adsorption system is located between two sets of drive wheels, and the rear wheel magnetic adsorption system is located between two sets of driven wheels.

[0025] The front wheel magnetic adsorption system includes a front wheel magnet rotating bracket, a front wheel magnet fixing plate, a front wheel magnet, a front wheel rotating bearing, and a front wheel magnet protective housing. The front wheel magnet protective housing is fixedly connected to the front wheel magnet fixing plate by bolts. The front wheel magnet is located in the cavity formed by the front wheel magnet protective housing and the front wheel magnet fixing plate, and the front wheel magnet is fixedly installed on the front wheel magnet fixing plate by countersunk bolts. The front wheel magnet rotating bracket is fixedly connected to the front wheel magnet fixing plate by several washers and bolts and nuts. The front wheel magnet rotating bracket is rotatably connected to the wheel frame through the front wheel rotating bearing. Under the influence of magnetic traction, the front wheel magnetic adsorption system is always perpendicular to the working wall surface.

[0026] The rear wheel magnetic adsorption system includes a rear wheel magnet bracket, a rear wheel magnet fixing plate, a rear wheel magnet protective shell, and a rear wheel magnet. The rear wheel magnet protective shell is fixedly connected to the rear wheel magnet fixing plate by bolts. The rear wheel magnet is located in the cavity formed by the rear wheel magnet protective shell and the rear wheel magnet fixing plate, and the rear wheel magnet is fixedly installed on the rear wheel magnet fixing plate by countersunk bolts. The rear wheel magnet bracket is fixedly connected to the rear wheel magnet fixing plate by several washers and bolts and nuts, and the rear wheel magnet bracket is fixedly connected to the wheel frame.

[0027] The working method of the above-mentioned modular wall-climbing robot includes the following steps:

[0028] (1) Robot form transformation:

[0029] a. First form of the robot: The first form mounting flanges on the side walls of the two sets of drive systems are connected and fixed to the two ends of the main support pipe by fixing pins and cotter pins respectively. At this time, both the drive wheel and the driven wheel are in contact with the working wall surface. The front wheel magnetic adsorption system and the rear wheel magnetic adsorption system are perpendicular to the working wall surface. The magnetic adsorption force can be adjusted by adjusting the number of washers on the front wheel magnetic adsorption system and the rear wheel magnetic adsorption system.

[0030] b. Second form of the robot: The second form mounting flanges on the top of the two sets of drive systems are connected and fixed to the two ends of the main support pipe by fixing pins and cotter pins respectively. At this time, only the drive wheel is in contact with the working wall. The front wheel magnet rotating bracket rotates through the front wheel rotating bearing. The front wheel magnetic adsorption system is perpendicular to the working wall. The magnetic adsorption force of the front wheel magnetic adsorption system can be adjusted by adjusting the number of washers on the front wheel magnetic adsorption system.

[0031] (2) Robot power drive:

[0032] a. The external button extends, and the external spline of the external button engages simultaneously with the internal spline flange of the drive wheel and the internal spline flange of the output shaft. The power of the drive motor is transmitted to the output shaft flange through the reducer and commutator, and then transmitted to the drive wheel output through the internal spline flange of the output shaft, the external button, and the internal spline flange of the drive wheel. The drive motor drives the drive wheel to rotate and move forward. By controlling the different output power of the drive motors on both sides of the robot, differential steering of the drive wheel is achieved.

[0033] b. When the external button is pressed, the external spline of the external button only engages with the internal spline on the internal spline flange of the output shaft. The external spline of the external button is disconnected from the internal spline flange of the drive wheel. The power of the drive motor is transmitted to the output shaft flange through the reducer and commutator, and then to the internal spline flange of the output shaft and the external button. Because the external button is disconnected from the internal spline flange of the drive wheel, the power transmission is interrupted, the drive wheel does not rotate, and the internal spline flange of the output shaft rotates freely relative to the drive wheel. At this time, the drive wheel and the driven wheel are only used to support the robot.

[0034] (3) Robotic rust removal operation:

[0035] The rotating body drives the ultra-high pressure water jet cutter head to rotate, performing rust removal on the working wall surface. The brush disc is used to press against the working wall surface to prevent sewage from flowing out from the gaps. Three recovery pipes collect the debris and sewage generated during the rust removal operation and collect them through the four-way connection of the recovery pipe to the external pipeline. When working on complex working walls, the distance between the ultra-high pressure water jet cutter head and the working wall surface can be adjusted by adjusting the number of height adjustment shims.

[0036] The present invention has the following beneficial effects:

[0037] 1. The drive system of the modular wall-climbing robot of the present invention adopts a modular and detachable connection method, which can quickly adjust the robot's drive motion mode as needed. In the first mode of the robot, both the drive wheel and the driven wheel are in contact with the working wall surface, which can be used for large-area wall rust removal operations. In the second mode of the robot, only the drive wheel is in contact with the working wall surface, which is used for rust removal operations on the edge of obstacles or the inner wall of tanks, thus improving the adaptability of the wall-climbing robot to different working scenarios.

[0038] 2. The front wheel magnetic adsorption system of the modular wall-climbing robot of the present invention is rotatably connected, which can ensure that both the front wheel magnetic adsorption system and the rear wheel magnetic adsorption system are perpendicular to the working wall surface in the first form of the robot, and that the front wheel magnetic adsorption system is always perpendicular to the working wall surface in the second form of the robot. Furthermore, the magnetic adsorption force can be adjusted by adjusting the number of washers on the front wheel magnetic adsorption system and the rear wheel magnetic adsorption system, thereby improving the adsorption stability of the robot.

[0039] 3. The modular wall-climbing robot of this invention effectively avoids tire slippage, reduces tire wear, improves the stability and accuracy of the wall-climbing robot during operation, and extends the service life of the wall-climbing robot's tires by coordinating the working mode conversion of the drive wheel and driven wheel and the tire locking system. Attached Figure Description

[0040] Figure 1 This is a three-dimensional view of the overall structure of the modular wall-climbing robot of this invention.

[0041] Figure 2 This is a front view of the support and fixing system and the rust removal and recycling system of the present invention.

[0042] Figure 3 This is a right view of the support and fixing system and rust removal and recycling system of the present invention.

[0043] Figure 4 This is a left sectional view of the support and fixing system and the rust removal and recycling system of the present invention.

[0044] Figure 5 This is a schematic diagram of the height adjustment pad in this invention.

[0045] Figure 6 This is a three-dimensional view of the overall structure of the drive system of the present invention.

[0046] Figure 7 This is a schematic diagram of the wheel frame structure in the drive system of the present invention.

[0047] Figure 8 This is a cross-sectional view of the front wheel magnetic adsorption system of the present invention.

[0048] Figure 9 This is a cross-sectional view of the rear wheel magnetic adsorption system of the present invention.

[0049] Figure 10 This is an exploded cross-sectional view of the tire locking system of the present invention.

[0050] Figure 11 This is a schematic diagram of the initial state of the drive wheel tire locking system of the present invention.

[0051] Figure 12 yes Figure 11 Sectional view along the AA direction.

[0052] Figure 13 yes Figure 12 Enlarged schematic diagram of the local structure at point B.

[0053] Figure 14 This is an enlarged cross-sectional view of the tire locking system of the present invention in its second state.

[0054] Figure 15 This is an enlarged cross-sectional view of the tire locking system of the present invention in the third state.

[0055] Figure 16 This is an enlarged cross-sectional view of the tire locking system of the present invention in its fourth state.

[0056] Figure 17 This is a schematic diagram of the first configuration of the drive system of the present invention.

[0057] Figure 18 This is a schematic diagram of the second form of the drive system of the present invention.

[0058] Figure 19 This is a schematic diagram of the overall structure of the modular wall-climbing robot when the drive system of the present invention is in its first state.

[0059] Figure 20 This is a schematic diagram of the overall structure of the modular wall-climbing robot when the drive system of this invention is in its second state.

[0060] Figure 21 This is a schematic diagram of the modular wall-climbing robot in operation when the drive system of this invention is in its first state.

[0061] Figure 22 This is a schematic diagram of the modular wall-climbing robot in operation when the drive system of this invention is in its second state.

[0062] In the picture:

[0063] 1. Support and fixing system; 2. Rust removal and recycling system; 3. Tire locking system; 4. Drive system; 5. Magnetic adsorption system.

[0064] 1-1. Main support pipe; 1-2. Handle mounting flange; 1-3. Hand handle; 1-4. Handle mounting plate; 1-5. Rust removal system mounting flange; 1-6. Recycling system fixing bracket; 1-7. Rust removal disc vertical support plate; 1-8. Cotter pin; 1-9. Fixing pin; 1-10. First form mounting flange; 1-11. Second form mounting flange.

[0065] 2-1. Rotating body; 2-2. Rotating body fixed support; 2-3. Rust removal disc horizontal mounting plate; 2-4. Ultra-high pressure water jet cutter head; 2-5. Sealing cover; 2-6. Spring positioning bracket; 2-7. Spring; 2-8. Sealing ring; 2-9. Rubber clamp; 2-10. Brush disc; 2-11. Electrical control box; 2-12. Recovery pipe; 2-13. Fixed clamp; 2-14. Recovery pipe four-way connector; 2-15. Electrical control box mounting plate; 2-16. Height adjustment shim.

[0066] 3-1. Inner button; 3-2. Outer button; 3-3. Inner button spring; 3-4. Outer button spring; 3-5. Wear-resistant gasket; 3-6. Drive wheel inner spline flange; 3-7. Output shaft inner spline flange; 3-8. Output shaft flange; 3-9. Inner button axial positioning sleeve; 3-10. Outer button axial positioning sleeve; 3-11. Steel ball; 3-12. Thin-walled bearing; 3-13. Bushing; 3-14. Button end cover.

[0067] 4-1. Drive motor; 4-2. Reducer; 4-3. Commutator; 4-4. Wheel frame; 4-5. Gear train;

[0068] 4-5-1, Drive wheel; 4-5-2, Driven wheel;

[0069] 5-1. Front wheel magnetic adsorption system; 5-2. Rear wheel magnetic adsorption system;

[0070] 5-1-1. Front wheel magnet rotating bracket; 5-1-2. Front wheel magnet fixing plate; 5-1-3. Front wheel magnet; 5-1-4. Front wheel rotating bearing; 5-1-5. Front wheel magnet protective housing;

[0071] 5-2-1 Rear wheel magnet bracket, 5-2-2 Rear wheel magnet fixing plate, 5-2-3 Rear wheel magnet protective shell, 5-2-4 Rear wheel magnet. Detailed Implementation

[0072] The following are specific embodiments of the present invention, which further describe the technical solution of the present invention. However, the scope of protection of the present invention is not limited to these embodiments. All changes or equivalent substitutions that do not depart from the concept of the present invention are included within the scope of protection of the present invention.

[0073] like Figure 1 , Figure 2 , Figure 6 As shown, a modular wall-climbing robot includes a support and fixing system 1, a rust removal and recycling system 2, a tire locking system 3, a drive system 4, and a magnetic adsorption system 5.

[0074] Among them, the support and fixing system 1 is the main structural support of the whole robot. Other systems are directly or indirectly installed on the support and fixing system 1. The support and fixing system 1 includes a horizontally arranged main support tube 1-1, and two sets of drive systems 4 are symmetrically installed at both ends of the main support tube 1-1.

[0075] Rust removal and recycling system 2 is installed below the support and fixing system 1 and is used for rust removal, cleaning and recycling operations. Rust removal and recycling system 2 is a mechanism that realizes the functions of ultra-high pressure water jet rust removal and wastewater recycling.

[0076] The drive system 4 is used for the input and transmission of robot power and to control the robot's movement and steering. The drive system 4 includes two sets of drive wheels 4-5-1 and two sets of driven wheels 4-5-2 arranged symmetrically. The top of the drive system 4 is provided with a second-form mounting flange 1-11, and the side wall of the drive system 4 is provided with a first-form mounting flange 1-10. Both the first-form mounting flange 1-10 and the second-form mounting flange 1-11 are adapted to the end of the main support tube 1-1. The drive system 4 can adjust its working form by adjusting the connection method between the first-form mounting flange 1-10 and the second-form mounting flange 1-11 and the main support tube 1-1.

[0077] The tire locking system 3 is installed on the drive wheel 4-5-1 of the drive system 4 and is used to control the power input and interruption to the drive wheels 4-5-1 on both sides of the robot.

[0078] The magnetic adsorption system 5 is installed on the drive system 4 and is used for the robot to perform adsorption operations on the working wall and adjust the adsorption force to counteract the recoil force of the ultra-high pressure water jet and gravity.

[0079] like Figure 3 , Figure 4As shown, the rust removal and recovery system 2 includes a rotating body 2-1, which is mounted on a rotating body fixed support 2-2. Several height adjustment shims 2-16 are installed between the rotating body 2-1 and the rotating body fixed support 2-2. The output shaft of the rotating body 2-1 is connected to an ultra-high pressure water jet cutter head 2-4, which is located inside a sealing cover 2-5. The rotating body fixed support 2-2 is fixed to the top of the sealing cover 2-5 via a horizontal mounting plate 2-3 for the rust removal disc. A brush disc 2-10 is fitted onto the bottom of the sealing cover 2-5. A sealing ring 2-8 is installed between the brush disc 2-10 and the sealing cover 2-5. The sealing ring 2-8 is secured to the outside with rubber clamps 2-9 to ensure the sealing performance inside the sealing cover 2-5. Several springs are installed on the outer wall of the sealing cover 2-5. Positioning brackets 2-6, each spring positioning bracket 2-6 is equipped with a spring 2-7, the other end of the spring 2-7 is installed on the brush disc 2-10 below, several springs 2-7 form a spring group to apply uniform pressure to the brush disc 2-10, so that the brush disc 2-10 is pressed against the working wall surface, improving the sealing of sewage recycling and preventing sewage from flowing out from the gaps. The top of the sealing cover 2-5 has an opening to install three recycling pipes 2-12, the three recycling pipes 2-12 are connected to the recycling pipe four-way 2-14 and are respectively fastened with fixing clamps 2-13. The recycling pipe four-way 2-14 is connected to the external pipeline to collect and recycle the debris and sewage generated by the rust removal operation. The sealing cover 2-5 is equipped with an electrical control box mounting plate 2-15, and the electrical control box 2-11 is fixedly installed on the electrical control box mounting plate 2-15.

[0080] Preferably, the rotating body 2-1 is an electric motor, which drives the ultra-high pressure water jet cutter head 2-4 to rotate and work, and the electrical control box 2-11 is used to supply power and control the rust removal and recovery system 2.

[0081] Preferred, such as Figure 5 As shown, to facilitate the assembly and disassembly of the height adjustment shim 2-16, the height adjustment shim 2-16 is composed of two halves with the same structure. Each half is provided with a dovetail protrusion and a dovetail groove at both ends. The two halves are connected by the dovetail protrusion and the dovetail groove. After the two halves are connected, a through hole is provided in the center for the output shaft of the rotating body 2-1 to pass through.

[0082] In particular, when working on complex working surfaces, the distance between the ultra-high pressure water jet cutter head 2-4 and the working surface can be adjusted by adjusting the number of height adjustment shims 2-16 to achieve a better rust removal effect.

[0083] Preferably, the ultra-high pressure water jet cutter head 2-4 can select the pressure to pressurize the water according to the specific circumstances such as the working scene and rust removal requirements, and can operate without pressurizing to ultra-high pressure.

[0084] like Figure 2 , Figure 3As shown, the rust removal and recycling system 2 is fixedly connected to the middle of the main support pipe 1-1. The side walls at both ends of the main support pipe 1-1 are provided with openings for installing fixing pins 1-9. The ends of fixing pins 1-9 are also provided with openings for inserting cotter pins 1-8. The first-form mounting flange 1-10 and the second-form mounting flange 1-11 can be inserted into both ends of the main support pipe 1-1 as needed, and can be detachably connected by several fixing pins 1-9 and cotter pins 1-8. When the cotter pins 1-8 are pulled out, the fixing pins 1-9 can be detached to realize the form conversion of the drive system 4.

[0085] When encountering an obstacle and the robot is unable to remove rust from its edge, the robot can be removed, and the connection between the drive system 4 and the rust removal part can be quickly switched by manually and quickly inserting and removing the cotter pins 1-8 and the fixing pins 1-9. When the main support pipe 1-1 is connected to the first-form mounting flange 1-10, it is called the "first form". When the main support pipe 1-1 is connected to the second-form mounting flange 1-11, it is called the "second form". In the "second form", the robot can achieve "zero" dead angle rust removal on the side wall and protruding edges.

[0086] A handle mounting plate 1-4 is fixedly installed on the main support pipe 1-1 via a handle mounting flange 1-2. A hand handle 1-3 is fixedly installed on the upper end of the handle mounting plate 1-4. A rust removal system mounting flange 1-5, a rust removal disc vertical support plate 1-7, and a recycling system fixing bracket 1-6 are sequentially installed on the main support pipe 1-1. The rust removal system mounting flange 1-5, the rust removal disc vertical support plate 1-7, and the recycling system fixing bracket 1-6 are fitted together and fixed with bolts. The rust removal system mounting flange 1-5 is used to fix the rust removal disc vertical support plate 1-7 and the recycling system fixing bracket 1-6 to the main support pipe 1-1. The recycling system fixing bracket 1-6 is fixedly connected to the recycling pipe four-way connector 2-14. The rust removal disc vertical support plate 1-7 is fixedly connected to the rust removal disc horizontal mounting plate 2-3.

[0087] like Figure 6 , Figure 7 As shown, the drive system 4 includes a drive motor 4-1, a reducer 4-2, a commutator 4-3, a wheel frame 4-4, and a wheel train 4-5. The drive motor 4-1, reducer 4-2, commutator 4-3, and wheel train 4-5 are all mounted on the wheel frame 4-4. The wheel train 4-5 includes two sets of drive wheels 4-5-1 symmetrically mounted on the front side of the wheel frame 4-4 and two sets of driven wheels 4-5-2 symmetrically mounted on the rear side of the wheel frame 4-4. The output shaft of the drive motor 4-1 is connected to the input shaft of the reducer 4-2, and the output shaft of the reducer 4-2 is connected to the input shaft of the commutator 4-3. The output shaft of the commutator 4-3 is connected to the drive wheels 4-5-1 through the tire locking system 3.

[0088] like Figure 10-13As shown, drive wheel 4-5-1 is connected to tire locking system 3. Tire locking system 3 includes external button 3-2, drive wheel inner spline flange 3-6, output shaft inner spline flange 3-7, and output shaft flange 3-8. Output shaft flange 3-8 is fixedly connected to the output shaft of drive system 4, specifically, output shaft flange 3-8 is fixedly connected to the output shaft of commutator 4-3. The two are connected by a key to transmit torque. Output shaft inner spline flange 3-7 is fixedly connected to output shaft flange 3-8. Drive wheel inner spline flange 3-6 is located to the left of output shaft inner spline flange 3-7. Drive wheel 4-5-1 is sleeved on the outside of output shaft inner spline flange 3-7. The external spline of external button 3-2 is always engaged with the internal spline on output shaft inner spline flange 3-7, and external button 3-2 can slide arbitrarily along the axial direction. Drive wheel inner spline flange 3-6 and drive wheel 4-5-1 are fixedly connected to the output shaft inner spline flange 3-7. 1. Power input and interruption are controlled via flange connection. When the external spline of external button 3-2 moves to the left, the external spline of external button 3-2 engages simultaneously with the internal splines of drive wheel internal spline flange 3-6 and output shaft internal spline flange 3-7. Drive wheel internal spline flange 3-6 and output shaft internal spline flange 3-7 are indirectly connected via external button 3-2. Power is transmitted sequentially to drive wheel 4-5-1 through output shaft flange 3-8, output shaft internal spline flange 3-7, external button 3-2, and drive wheel internal spline flange 3-6, driving the robot to move. When the external spline of external button 3-2 moves to the right, the external spline of external button 3-2 engages only with the internal spline on output shaft internal spline flange 3-7. The external spline of external button 3-2 is disconnected from drive wheel internal spline flange 3-6, power transmission is interrupted, and drive wheel 4-5-1 only serves a supporting function.

[0089] The tire locking system 3 also includes an inner button 3-1, an inner button spring 3-3, an outer button spring 3-4, a wear-resistant gasket 3-5, an inner button axial positioning sleeve 3-9, an outer button axial positioning sleeve 3-10, a thin-walled bearing 3-12, a bushing 3-13, and a button end cap 3-14. The wear-resistant gasket 3-5 and the bushing 3-13 are installed between the inner spline flange 3-6 of the drive wheel and the inner spline flange 3-7 of the output shaft, and are made of brass to prevent dry friction between the inner spline flange 3-6 of the drive wheel and the inner spline flange 3-7 of the output shaft after power is disconnected. The thin-walled bearing 3-12 is installed between the drive wheel 4-5-1 and the inner spline flange 3-7 of the output shaft to prevent dry friction between the drive wheel 4-5-1 and the inner spline flange 3-7 of the output shaft after power is disconnected. The inner button 3-1 is installed inside the outer button 3-2. The inner button 3-1 and the outer button 3-2 are axially moved by the inner button spring 3-3. One end of the inner button spring 3-3 is held in place by the shoulder of the inner button 3-1, and the other end is held in place by the countersunk seat of the outer button 3-2. The other end of the inner button 3-1 is engaged with the inner button axial positioning sleeve 3-9, and the other end of the outer button 3-2 is engaged with the outer button axial positioning sleeve 3-10. One end of the outer button spring 3-4 is engaged with the output shaft flange 3-8, and the other end of the outer button spring 3-4 is engaged with the outer button axial positioning sleeve 3-10. This is used to control the axial displacement of the output shaft flange 3-8 and the outer button axial positioning sleeve 3-10. The button end cover 3-14 is installed on the inner spline flange 3-6 of the drive wheel. The inner wall of the button end cover 3-14 is engaged with the outer button 3-2 to prevent impurities such as sand and iron filings from entering.

[0090] The tire locking system 3 also includes a steel ball 3-11. The rotating surface of the outer button axial positioning sleeve 3-10 and the rotating surface of the output shaft flange 3-8 are provided with holes that are compatible with the steel ball 3-11. The inner button axial positioning sleeve 3-9 has an inner rounded corner that is compatible with the steel ball 3-11 on the side facing the outer button axial positioning sleeve 3-10. The inner button 3-1, outer button 3-2, inner button spring 3-3, outer button spring 3-4, inner button axial positioning sleeve 3-9, and outer button axial positioning sleeve 3-10 cooperate to realize the movement and locking of the steel ball 3-11.

[0091] like Figure 13 As shown, in the initial state, the outer button 3-2 extends outward under the thrust of the right outer button spring 3-4, the inner button 3-1 is retracted inside the outer button 3-2, the left inner button spring 3-3 provides axial thrust, the steel ball 3-11 is located in the hole on the rotating surface of the outer button axial positioning sleeve 3-10, the inner button axial positioning sleeve 3-9 has an inner rounded corner on the outside, and under the thrust of the inner button spring 3-3, the steel ball 3-11 is pressed into the hole of the outer button axial positioning sleeve 3-10. At this time, the outer spline of the outer button 3-2 is simultaneously engaged with the inner spline flange 3-6 of the drive wheel and the inner spline flange 3-7 of the output shaft, and the power can be output through the drive wheel 4-5-1.

[0092] like Figure 14 As shown, when the outer button 3-2 is pressed, the outer button axial positioning sleeve 3-10 moves to the right, compressing the outer button spring 3-4. Because the steel ball 3-11 on the right side restricts the axial position of the inner button axial positioning sleeve 3-9, the outer button axial positioning sleeve 3-10, through the inner button axial positioning sleeve 3-9, moves the inner button 3-1 to the right. The rotating surface of the output shaft flange 3-8 also has two holes. When the hole on the rotating surface of the outer button axial positioning sleeve 3-10 reaches a position coaxial with the hole on the rotating surface of the output shaft flange 3-8, the inner button spring 3-3, under its thrust, pushes the steel ball 3-11 between the outer button axial positioning sleeve 3-10 and the output shaft flange 3-8. The inner button spring 3-3 then extends. Figure 15 As shown, the inner button axial positioning sleeve 3-9 moves to the left, and the outer wall of the inner button axial positioning sleeve 3-9 presses the steel ball 3-11 between the outer button axial positioning sleeve 3-10 and the output shaft flange 3-8, preventing it from coming out. At this time, the inner button 3-1 extends and the outer button retracts. At this time, the outer button 3-2 is fixed on the right side. The outer button 3-2 is only engaged with the inner spline flange 3-7 of the output shaft. The outer button 3-2 is disconnected from the inner spline flange 3-6 of the drive wheel, and power cannot be transmitted to the drive wheel 4-5-1.

[0093] like Figure 16 As shown, when the inner button 3-1 is pressed, the inner button axial positioning sleeve 3-9 moves to the right, making room for the steel ball 3-11. The steel ball 3-11 returns to the space between the inner button axial positioning sleeve 3-9 and the outer button axial positioning sleeve 3-10. There is no steel ball 3-11 fixing the outer button axial positioning sleeve 3-10 and the output shaft flange 3-8. The outer button spring 3-4 extends, pushing the outer button 3-2 along with the inner button 3-1 back to their original positions. The outer spline of the outer button 3-2 reconnects with the inner spline flange 3-6 of the drive wheel, and power is input again and output through the drive wheel 4-5-1. The outer button 3-2 extends.

[0094] like Figures 6-9 As shown, the magnetic adsorption system 5 includes a front wheel magnetic adsorption system 5-1 and a rear wheel magnetic adsorption system 5-2. The front wheel magnetic adsorption system 5-1 is located between two sets of drive wheels 4-5-1, and the rear wheel magnetic adsorption system 5-2 is located between two sets of driven wheels 4-5-2. When the robot transitions from its "first mode" to its "second mode," the front wheel magnetic adsorption system 5-1 can rotate 90 degrees, thus adapting to the two working modes.

[0095] The front wheel magnetic adsorption system 5-1 includes a front wheel magnet rotating bracket 5-1-1, a front wheel magnet fixing plate 5-1-2, a front wheel magnet 5-1-3, a front wheel rotating bearing 5-1-4, and a front wheel magnet protective housing 5-1-5. The front wheel magnet protective housing 5-1-5 is fixedly connected to the front wheel magnet fixing plate 5-1-2 by bolts. The front wheel magnet 5-1-3 is located in the cavity formed by the front wheel magnet protective housing 5-1-5 and the front wheel magnet fixing plate 5-1-2, and the front wheel magnet 5-1-3 is fixedly installed on the front wheel using countersunk bolts. On the wheel magnet fixing plate 5-1-2, the front wheel magnet rotating bracket 5-1-1 is fixedly connected to the front wheel magnet fixing plate 5-1-2 by several washers and bolts and nuts. The gap between the front wheel magnet 5-1-3 and the working wall can be adjusted by adjusting the number of washers. The front wheel magnet rotating bracket 5-1-1 is rotatably connected to the wheel frame 4-4 through the front wheel rotating bearing 5-1-4. Under the influence of magnetic traction, the front wheel magnetic adsorption system 5-1 is always perpendicular to the working wall, thereby exerting the maximum magnetic force to adapt to the two different working modes of the robot.

[0096] The rear wheel magnetic adsorption system 5-2 includes a rear wheel magnet bracket 5-2-1, a rear wheel magnet fixing plate 5-2-2, a rear wheel magnet protective shell 5-2-3, and a rear wheel magnet 5-2-4. The rear wheel magnet protective shell 5-2-3 is fixedly connected to the rear wheel magnet fixing plate 5-2-2 by bolts. The rear wheel magnet 5-2-4 is located in the cavity formed by the rear wheel magnet protective shell 5-2-3 and the rear wheel magnet fixing plate 5-2-2, and is fixedly installed on the rear wheel magnet fixing plate 5-2-2 by countersunk bolts. The rear wheel magnet bracket 5-2-1 is fixedly connected to the rear wheel magnet fixing plate 5-2-2 by several washers and bolts and nuts. The gap between the rear wheel magnet 5-2-4 and the working wall can be adjusted by adjusting the number of washers. The rear wheel magnet bracket 5-2-1 is fixedly connected to the wheel frame 4-4.

[0097] The working method of the modular wall-climbing robot includes the following steps:

[0098] (1) Robot form transformation:

[0099] a. First form of the robot: The first form mounting flanges 1-10 on the four side walls of the two sets of drive systems are connected and fixed to both ends of the main support pipe 1-1 by fixing pins 1-9 and cotter pins 1-8 respectively, as follows. Figure 17 , Figure 19 As shown, at this time, both the drive wheel 4-5-1 and the driven wheel 4-5-2 are in contact with the working wall surface. The front wheel magnetic adsorption system 5-1 and the rear wheel magnetic adsorption system 5-2 are perpendicular to the working wall surface. The magnetic adsorption force can be adjusted by changing the number of washers on the front wheel magnetic adsorption system 5-1 and the rear wheel magnetic adsorption system 5-2. The first form of the robot can be used for large-area wall rust removal operations, such as... Figure 21 As shown;

[0100] b. Second form of the robot: The second form mounting flange 1-11 on the top of the two sets of drive systems 4 is connected and fixed to both ends of the main support pipe 1-1 by fixing pin 1-9 and cotter pin 1-8 respectively, as follows. Figure 18 , Figure 20 As shown, at this time only the drive wheel 4-5-1 is in contact with the working wall. The front wheel magnet rotating bracket 5-1-1 rotates through the front wheel rotating bearing 5-1-4. The front wheel magnetic adsorption system 5-1 is perpendicular to the working wall. The magnetic adsorption force of the front wheel magnetic adsorption system 5-1 can be adjusted by adjusting the number of washers on the front wheel magnetic adsorption system 5-1. The second form of the robot is used for rust removal operations on the edges of obstacles or the inner walls of tanks, such as... Figure 22 As shown;

[0101] (2) Robot power drive:

[0102] a. The external button 3-2 extends, and the external spline of the external button 3-2 engages simultaneously with the internal spline flange 3-6 of the drive wheel and the internal spline flange 3-7 of the output shaft. The power of the drive motor 4-1 is transmitted to the output shaft flange 3-8 through the reducer 4-2 and the commutator 4-3, and then to the drive wheel 4-5-1 through the internal spline flange 3-7 of the output shaft, the external button 3-2, and the internal spline flange 3-6 of the drive wheel. The drive motor 4-1 drives the drive wheel 4-5-1 to rotate and move. By controlling the different power outputs of the drive motors 4-1 on both sides of the robot, differential steering of the drive wheel 4-5-1 is achieved.

[0103] b. When the outer button 3-2 is pressed, the outer spline of the outer button 3-2 only engages with the inner spline on the inner spline flange 3-7 of the output shaft. The outer spline of the outer button 3-2 is disconnected from the inner spline flange 3-6 of the drive wheel. The power of the drive motor 4-1 is transmitted to the output shaft flange 3-8 through the reducer 4-2 and the commutator 4-3, and then to the inner spline flange 3-7 of the output shaft and the outer button 3-2. Because the outer button 3-2 is disconnected from the inner spline flange 3-6 of the drive wheel, the power transmission is interrupted, the drive wheel 4-5-1 does not rotate, and the inner spline flange 3-7 of the output shaft rotates freely relative to the drive wheel 4-5-1. At this time, the drive wheel 4-5-1 and the driven wheel 4-5-2 are only used to support the robot.

[0104] (3) Robotic rust removal operation:

[0105] The rotating body 2-1 drives the ultra-high pressure water jet cutter head 2-4 to rotate, performing rust removal on the working wall surface. The brush disc 2-10 is used to press against the working wall surface to prevent sewage from flowing out from the gaps. Three recovery pipes 2-12 collect the debris and sewage generated during the rust removal operation and connect to the external pipeline for collection and recovery via the recovery pipe four-way connector 2-14. When working on complex working walls, the distance between the ultra-high pressure water jet cutter head 2-4 and the working wall surface can be adjusted by adjusting the number of height adjustment shims 2-16.

[0106] This invention is not limited to the above-described embodiments. Anyone should know that any structural changes made under the guidance of this invention, and any technical solutions that are the same as or similar to this invention, fall within the protection scope of this invention.

[0107] The technologies, shapes, and structures not described in detail in this invention are all known technologies.

Claims

1. A modular wall-climbing robot, comprising a support and fixing system, a rust removal and recycling system, and a drive system, characterized in that, It also includes a tire locking system and a magnetic adsorption system; The support and fixing system is used to install and support the entire robot structure. The support and fixing system includes a horizontally arranged main support tube, and two drive systems are symmetrically installed at both ends of the main support tube. The rust removal and recycling system is installed below the support and fixing system and is used for rust removal, cleaning and recycling operations; The drive system is used for the input and transmission of robot power and to control the robot's movement and steering. The drive system includes two sets of drive wheels and two sets of driven wheels arranged symmetrically. The top of the drive system is provided with a second-form mounting flange, and the side wall of the drive system is provided with a first-form mounting flange. Both the first-form and second-form mounting flanges are adapted to the end of the main support tube. The drive system can adjust its working form by adjusting the connection between the first-form and second-form mounting flanges and the main support tube. The tire locking system is installed on the drive wheels of the drive system and is used to control the power input and interruption to the drive wheels on both sides of the robot. The magnetic adsorption system is installed on the drive system and is used by the robot to perform adsorption operations on the working wall and adjust the adsorption force.

2. The modular wall-climbing robot as described in claim 1, characterized in that, The rust removal and recovery system includes a rotating body mounted on a fixed support. Several height adjustment shims are installed between the rotating body and the fixed support. The output shaft of the rotating body is connected to an ultra-high pressure water jet cutter head, which is located inside a sealed cover. The fixed support is mounted on the top of the sealed cover via a horizontal mounting plate for the rust removal disc. A brush disc is fitted at the bottom of the sealed cover, and a sealing ring is installed between the brush disc and the sealed cover. The outer side of the sealing ring is secured with rubber clamps. Several spring positioning brackets are installed on the outer wall of the sealed cover, and a spring is installed on each spring positioning bracket. The other end of the spring is installed on the brush disc below. Several springs form a spring group that applies uniform pressure to the brush disc. Three recovery pipes are installed through an opening at the top of the sealed cover. The three recovery pipes are simultaneously connected to a recovery pipe four-way connector and secured with fixing clamps. An electrical control box mounting plate is installed on the sealed cover, and the electrical control box is fixedly mounted on the mounting plate.

3. The modular wall-climbing robot as described in claim 2, characterized in that, The rust removal and recovery system is fixedly connected to the middle of the main support pipe. Openings are provided on the side walls at both ends of the main support pipe for installing fixing pins. Both the first and second form mounting flanges are inserted into the ends of the main support pipe and are detachably connected via several fixing pins and cotter pins. A handle mounting plate is fixedly installed on the main support pipe via a handle mounting flange, with a hand handle fixedly installed at the upper end of the handle mounting plate. A rust removal system mounting flange, a rust removal disc vertical support plate, and a recovery system fixing frame are sequentially installed on the main support pipe. These components are fitted together and fixed with bolts. The rust removal system mounting flange is used to fix the rust removal disc vertical support plate and the recovery system fixing frame to the main support pipe. The recovery system fixing frame is fixedly connected to the recovery pipe via a four-way connector. The rust removal disc vertical support plate is fixedly connected to the rust removal disc horizontal mounting plate.

4. The modular wall-climbing robot as described in claim 1, characterized in that, The drive system includes a drive motor, a reducer, a commutator, a wheel frame, and a wheel train. The drive motor, reducer, commutator, and wheel train are all mounted on the wheel frame. The wheel train includes two sets of drive wheels symmetrically mounted on the front side of the wheel frame and two sets of driven wheels symmetrically mounted on the rear side of the wheel frame. The output shaft of the drive motor is connected to the input shaft of the reducer, and the output shaft of the reducer is connected to the input shaft of the commutator. The output shaft of the commutator is connected to the drive wheels through a tire locking system.

5. The modular wall-climbing robot as described in claim 1, characterized in that, The drive wheel is connected to a tire locking system, which includes an external button, an internal spline flange of the drive wheel, an internal spline flange of the output shaft, and an output shaft flange. The output shaft flange is fixedly connected to the output shaft of the drive system, and the internal spline flange of the output shaft is fixedly connected to the output shaft flange. The internal spline flange of the drive wheel is located to the left of the internal spline flange of the output shaft, and the drive wheel is sleeved on the outside of the internal spline flange of the output shaft. The external spline of the external button is always engaged with the internal spline on the internal spline flange of the output shaft, and the external button can slide arbitrarily along the axial direction. The internal spline flange of the drive wheel is connected to the drive wheel through a flange, controlling the input and output of power. When the external spline of the external button moves to the left, the external spline of the external button engages simultaneously with the internal splines of the drive wheel internal spline flange and the output shaft internal spline flange. The drive wheel internal spline flange and the output shaft internal spline flange are indirectly connected through the external button. Power is transmitted to the drive wheel in sequence through the output shaft flange, the output shaft internal spline flange, the external button, and the drive wheel internal spline flange, driving the robot to move. When the external spline of the external button moves to the right, the external spline of the external button engages only with the internal spline on the output shaft internal spline flange. The external spline of the external button is disconnected from the drive wheel internal spline flange, and the power transmission is interrupted.

6. The modular wall-climbing robot as described in claim 5, characterized in that, The tire locking system also includes an inner button, an inner button spring, an outer button spring, a wear-resistant gasket, an inner button axial positioning sleeve, an outer button axial positioning sleeve, a thin-walled bearing, a bushing, and a button end cap. The wear-resistant gasket and bushing are installed between the inner spline flange of the drive wheel and the inner spline flange of the output shaft. The thin-walled bearing is installed between the drive wheel and the inner spline flange of the output shaft to prevent dry friction between the drive wheel and the inner spline flange of the output shaft after power is disconnected. The inner button is installed inside the outer button. The axial movement of the inner button and the outer button is controlled by the inner button spring. One end of the inner button spring is held by the shoulder of the inner button, and the other end of the inner button spring is held by the countersunk seat of the outer button. The other end of the inner button mates with the inner button axial positioning sleeve, and the other end of the outer button mates with the outer button axial positioning sleeve. One end of the outer button spring mates with the output shaft flange, and the other end of the outer button spring mates with the outer button axial positioning sleeve to control the axial displacement of the output shaft flange and the outer button axial positioning sleeve. The button end cap is installed on the inner spline flange of the drive wheel, and the inner wall of the button end cap mates with the outer button.

7. The modular wall-climbing robot as described in claim 6, characterized in that, The tire locking system also includes steel balls. The rotating surface of the outer button axial positioning sleeve and the rotating surface of the output shaft flange are provided with holes adapted to the steel balls. The inner button axial positioning sleeve has an inner rounded corner adapted to the steel balls on the side facing the outer button axial positioning sleeve. The inner button, outer button, inner button spring, outer button spring, inner button axial positioning sleeve, and outer button axial positioning sleeve cooperate to realize the movement and locking of the steel balls.

8. The modular wall-climbing robot as described in claim 7, characterized in that, The steel ball is initially located in the hole on the rotating surface of the outer button axial positioning sleeve. The outer side of the inner button axial positioning sleeve is provided with an inner rounded corner. Under the thrust of the inner button spring, the steel ball is pressed into the hole of the outer button axial positioning sleeve. At this time, the outer spline of the outer button is simultaneously engaged with the inner spline flange of the drive wheel and the inner spline flange of the output shaft, and the power can be output through the drive wheel. When the outer button is pressed, the outer button axial positioning sleeve moves to the right and compresses the outer button spring. Because there is a steel ball on the right side restricting the axial position of the inner button axial positioning sleeve, the outer button axial positioning sleeve moves the inner button to the right through the inner button axial positioning sleeve. The rotating surface of the output shaft flange also has two holes. When the hole on the rotating surface of the outer button axial positioning sleeve reaches the position coaxial with the hole on the rotating surface of the output shaft flange, the steel ball is pushed between the outer button axial positioning sleeve and the output shaft flange by the thrust of the inner button spring. The inner button spring extends, the inner button axial positioning sleeve moves to the left, and the outer wall of the inner button axial positioning sleeve presses the steel ball between the outer button axial positioning sleeve and the output shaft flange to prevent it from coming out. At this time, the inner button extends and the outer button retracts. At this time, the outer button is fixed on the right side. The outer button is only engaged with the inner spline flange of the output shaft. The outer button is disconnected from the inner spline flange of the drive wheel, and power cannot be transmitted to the drive wheel. When the inner button is pressed, the axial positioning sleeve of the inner button moves to the right, making room for the steel ball. The steel ball returns to the space between the axial positioning sleeve of the inner button and the axial positioning sleeve of the outer button. There is no steel ball fixing between the axial positioning sleeve of the outer button and the output shaft flange. The spring of the outer button extends, pushing the outer button and the inner button back to their original positions. The outer spline of the outer button re-engages with the inner spline flange of the drive wheel, and power is input again and output through the drive wheel. The outer button extends.

9. The modular wall-climbing robot as described in claim 4, characterized in that, The magnetic adsorption system includes a front wheel magnetic adsorption system and a rear wheel magnetic adsorption system. The front wheel magnetic adsorption system is located between two sets of drive wheels, and the rear wheel magnetic adsorption system is located between two sets of driven wheels. The front wheel magnetic adsorption system includes a front wheel magnet rotating bracket, a front wheel magnet fixing plate, a front wheel magnet, a front wheel rotating bearing, and a front wheel magnet protective housing. The front wheel magnet protective housing is fixedly connected to the front wheel magnet fixing plate by bolts. The front wheel magnet is located in the cavity formed by the front wheel magnet protective housing and the front wheel magnet fixing plate, and the front wheel magnet is fixedly installed on the front wheel magnet fixing plate by countersunk bolts. The front wheel magnet rotating bracket is fixedly connected to the front wheel magnet fixing plate by several washers and bolts and nuts. The front wheel magnet rotating bracket is rotatably connected to the wheel frame through the front wheel rotating bearing. Under the influence of magnetic traction, the front wheel magnetic adsorption system is always perpendicular to the working wall surface. The rear wheel magnetic adsorption system includes a rear wheel magnet bracket, a rear wheel magnet fixing plate, a rear wheel magnet protective shell, and a rear wheel magnet. The rear wheel magnet protective shell is fixedly connected to the rear wheel magnet fixing plate by bolts. The rear wheel magnet is located in the cavity formed by the rear wheel magnet protective shell and the rear wheel magnet fixing plate, and the rear wheel magnet is fixedly installed on the rear wheel magnet fixing plate by countersunk bolts. The rear wheel magnet bracket is fixedly connected to the rear wheel magnet fixing plate by several washers and bolts and nuts, and the rear wheel magnet bracket is fixedly connected to the wheel frame.

10. The working method of the modular wall-climbing robot as described in any one of claims 1-9, characterized in that, Includes the following steps: (1) Robot form transformation: a. First form of the robot: The first form mounting flanges on the side walls of the two sets of drive systems are connected and fixed to the two ends of the main support pipe by fixing pins and cotter pins respectively. At this time, both the drive wheel and the driven wheel are in contact with the working wall surface. The front wheel magnetic adsorption system and the rear wheel magnetic adsorption system are perpendicular to the working wall surface. The magnetic adsorption force can be adjusted by adjusting the number of washers on the front wheel magnetic adsorption system and the rear wheel magnetic adsorption system. b. Second form of the robot: The second form mounting flanges on the top of the two sets of drive systems are connected and fixed to the two ends of the main support pipe by fixing pins and cotter pins respectively. At this time, only the drive wheel is in contact with the working wall. The front wheel magnet rotating bracket rotates through the front wheel rotating bearing. The front wheel magnetic adsorption system is perpendicular to the working wall. The magnetic adsorption force of the front wheel magnetic adsorption system can be adjusted by adjusting the number of washers on the front wheel magnetic adsorption system. (2) Robot power drive: a. The external button extends, and the external spline of the external button engages simultaneously with the internal spline flange of the drive wheel and the internal spline flange of the output shaft. The power of the drive motor is transmitted to the output shaft flange through the reducer and commutator, and then transmitted to the drive wheel output through the internal spline flange of the output shaft, the external button, and the internal spline flange of the drive wheel. The drive motor drives the drive wheel to rotate and move forward. By controlling the different output power of the drive motors on both sides of the robot, differential steering of the drive wheel is achieved. b. When the external button is pressed, the external spline of the external button only engages with the internal spline on the internal spline flange of the output shaft. The external spline of the external button is disconnected from the internal spline flange of the drive wheel. The power of the drive motor is transmitted to the output shaft flange through the reducer and commutator, and then to the internal spline flange of the output shaft and the external button. Because the external button is disconnected from the internal spline flange of the drive wheel, the power transmission is interrupted, the drive wheel does not rotate, and the internal spline flange of the output shaft rotates freely relative to the drive wheel. At this time, the drive wheel and the driven wheel are only used to support the robot. (3) Robotic rust removal operation: The rotating body drives the ultra-high pressure water jet cutter head to rotate, performing rust removal on the working wall surface. The brush disc is used to press against the working wall surface to prevent sewage from flowing out from the gaps. Three recovery pipes collect the debris and sewage generated during the rust removal operation and collect them through the four-way connection of the recovery pipe to the external pipeline. When working on complex working walls, the distance between the ultra-high pressure water jet cutter head and the working wall surface can be adjusted by adjusting the number of height adjustment shims.

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