Wall-climbing derusting robot

Abstract

The invention relates to the field of large steel rust removal and cleaning, and particularly discloses a wall-climbing rust removal robot which comprises a chassis magnetic attraction component, a laser generator, a moving driver, an operation vehicle box and magnetic tracks, the moving driver is arranged in the operation vehicle box, the magnetic tracks are connected to the two sides of an operation vehicle, and the moving driver is in driving connection with the magnetic tracks. The laser generator is connected to the middle of the operation vehicle box body, the sweeping device is arranged at the end, right facing an emission port of the laser generator, of the operation vehicle box body and used for sweeping scrap iron falling after laser rust removal, and the chassis magnetic attraction component is connected to the bottom of the operation vehicle box body. The chassis magnetic attraction component and the magnetic track are used for applying pressure to the outer surface of the wall. According to the robot, high-altitude operation of workers is reduced, the rust removal and cleaning efficiency is improved, it is guaranteed that the cleaning quality keeps consistent, the equipment universality is high, and on-site implementation and arrangement are convenient.

Description

Technical Field

[0001] This invention relates to the field of large-scale steel rust removal and cleaning, specifically a wall-climbing rust removal robot. Background Technology

[0002] Currently, there are four commonly used rust removal methods in the industry: manual rust removal, chemical cleaning, sandblasting, and high-pressure water jetting. 1) Manual rust removal refers to the traditional method of removing rust and scale from the tank surface using tools such as scrapers, shovels, files, steel brushes, and electric grinders. While simple, this method relies entirely on manpower, resulting in high labor intensity, low efficiency, poor quality, and significant environmental pollution from the large amount of metal slag produced. 2) Chemical rust removal utilizes chemical agents to react with the iron oxide on the tank surface, thus removing the rust layer. This method is advantageous for its thoroughness and efficiency. However, errors in solution preparation or timing can lead to excessive corrosion of the metal tank surface, and the chemicals cause severe environmental pollution and high disposal costs. 3) Sandblasting primarily uses compressed air to propel sand particles onto the metal tank surface, achieving good rust removal results. However, it generates a large amount of dust, causing severe pollution and posing a significant health hazard to workers. 4) Ultra-high pressure water rust removal uses an ultra-high pressure water generator to propel water at high speed onto the surface of a metal tank using a specific fluid motion and specially shaped nozzles. This erosion, peeling, cutting, and impact techniques remove rust. While ultra-high pressure water rust removal avoids the release of paint into the air and causing dust thanks to the high pressure, discharging the water mixture onto land or into the sea not only pollutes the environment but also wastes water resources. Furthermore, the surface may develop rust again due to water residue after the treatment, making painting operations more difficult. Summary of the Invention

[0003] The purpose of this invention is to provide a wall-climbing rust removal robot that reduces the need for workers to work at heights, improves rust removal and cleaning efficiency, ensures consistent cleaning quality, has high equipment versatility, and is convenient for on-site implementation and deployment.

[0004] The objective of this invention can be achieved through the following technical solutions:

[0005] A wall-climbing rust removal robot includes a chassis magnetic suction component, a laser generator, a mobile driver, a work vehicle body, and magnetic tracks. The mobile driver is installed inside the work vehicle body. The magnetic tracks are connected to both sides of the work vehicle body, and the mobile driver is driven by the magnetic tracks to drive their rotation. The laser generator is connected to the middle of the work vehicle body. A blowing device is installed at the end of the work vehicle body facing the laser generator's emission port to blow away iron filings that fall off after laser rust removal. The chassis magnetic suction component is connected to the bottom of the work vehicle body. The chassis magnetic suction component and the magnetic tracks apply pressure to the outer surface of the wall. The resultant force at the connection point between the magnetic tracks and the outer surface of the wall pulls the magnetic tracks to move along the outer surface of the wall.

[0006] In a further embodiment, the magnetic track includes a track and magnetic blocks. Each section of the track is connected to a soft iron with a cavity. The magnetic blocks are disposed in the cavity and are fixedly connected to the soft iron by screws. The bottom of the cavity is used to contact the wall surface, and the contact surface is a smooth curved surface. The side of each magnetic block that contacts the wall surface is not covered by the cavity, so as to attract each other with the wall surface.

[0007] In a further embodiment, the working range of the purging device is defined as the laser operation area of ​​the laser generator being less than 0.2m from the body of the work vehicle.

[0008] In a further embodiment, the sum of the magnetic attraction forces of the chassis magnetic components and the magnetic tracks is greater than or equal to the force F that overcomes friction. f Required positive pressure F n :F l +F d ≥F n ;

[0009] In the formula: F l For magnetic track attraction, F d The magnetic attraction force of the chassis components;

[0010] The formula for the frictional force between the magnetic track and the wall is: F f =μ*F n F f≥G ;

[0011] In the formula: μ is the coefficient of sliding friction, F n G represents the positive pressure, and G represents the gravity acting on the wall-climbing rust removal robot when it connects the cables.

[0012] In a further embodiment, the wall-climbing rust removal robot also includes a fall protection device. The fall protection device is connected to the upper part of the wall and includes multiple speed-differential fall protectors, which traction the work vehicle body in multiple directions.

[0013] In a further embodiment, there are multiple speed differential fall arrestors, all of which are connected to the work vehicle body via safety ropes and U-shaped safety locks.

[0014] In a further embodiment, the laser generator, the mobile driver, and the ground control component are connected by an integrated wiring harness. The ground control component is located on the ground. The integrated wiring harness contains parallel wires and air pipes. The integrated wiring harness is tightened using a thermoplastic tube and is wrapped with a winding tube.

[0015] In a further embodiment, the ground control component integrates a power control box, a laser generator control cabinet, a cooling cabinet, a walking remote control device, and a blowing controller. The power control box supplies power to the electrical components of the wall-climbing rust removal robot. The laser generator control cabinet is electrically connected to the laser generator via wires and controls the laser generator to emit laser light. The cooling cabinet dissipates heat from the electrical components within the ground control component. The walking remote control device is connected to the mobile driver via wires and receives remote control wireless signals to control the mobile driver to start its operation. The blowing controller is electrically connected to the blowing device via wires and controls the blowing device to blow air.

[0016] In a further embodiment, the purging device includes a mounting bracket and a nozzle. The mounting bracket is connected to the end of the work vehicle body away from the laser generator, and the nozzle is mounted on the mounting bracket.

[0017] In a further embodiment, the bottom surface of the mounting bracket is provided with a brush, which is used to remove rust.

[0018] The beneficial effects of this invention are:

[0019] This invention is an automated equipment suitable for rust removal on the surface (especially vertical surface) of large steel components. The selected laser rust removal device does not cause mechanical damage compared with manual grinding methods for mechanical rust removal; it does not damage surrounding components compared with sandblasting; and it does not damage the base material or cause secondary pollution compared with chemical rust removal.

[0020] This invention employs remote control operation and features an intelligent rust removal line identification system. It eliminates the need for additional auxiliary equipment, effectively reducing manpower and material resources, and offering convenience and efficiency. Furthermore, remote control operation allows for configuration of the laser rust removal equipment according to different rust conditions, enabling it to meet usage requirements under varying circumstances.

[0021] This invention eliminates the need for a lifting platform, is small in size and easy to operate, and features adequate safety protection measures to reduce the risk of accidents.

[0022] This invention utilizes the high energy, high frequency, and high power characteristics of lasers to instantly deposit high energy into a very small area, using high temperature to burn off the oxide layer, thereby achieving efficient rust removal. This invention uses magnetic attraction to adhere to steel walls, and uses anti-fall devices to ensure the safe use of the equipment climbing walls. This invention adopts remote control to control the wall-climbing rust removal robot and laser rust removal system, and all controls can be performed on the supporting facilities of the control components, making operation more convenient and safer. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a schematic diagram of the wall-climbing rust removal robot in an embodiment of the present invention;

[0025] Figure 2 This is a schematic diagram of the installation of the wall-climbing rust removal robot in an embodiment of the present invention;

[0026] Figure 3 This is a schematic diagram of the ground control component in an embodiment of the present invention;

[0027] Figure 4 This is a schematic diagram of the connection of the alternating speed difference fall arrestor in an embodiment of the present invention;

[0028] Figure 5 This is a schematic diagram of the chassis magnetic suction component design in an embodiment of the present invention;

[0029] Figure 6 This is a schematic diagram of the force analysis of the wall-climbing rust removal robot in an embodiment of the present invention.

[0030] In the diagram: 1. Wall-climbing rust removal robot; 2. Ground control components; 3. Fall arrestor; 4. Laser generator; 5. Blowing device; 6. Magnetic track; 61. Track; 62. Magnetic block; 7. Work vehicle body; 8. Power control box; 9. Laser generator electrical control cabinet; 10. Cooling cabinet; 11. Robot remote control handle; 12. Differential fall arrestor; 13. Chassis magnetic components; 14. Mobile drive. Detailed Implementation

[0031] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0032] like Figure 1 As shown, this wall-climbing rust removal robot 1 includes a chassis magnetic suction component 13, a laser generator 4, a mobile driver 14, a work vehicle body 7, and magnetic tracks 6. The mobile driver 14 is installed inside the work vehicle body 7. The magnetic tracks 6 are connected to both sides of the work vehicle body. The mobile driver 14 is connected to the magnetic tracks 6 and is used to drive the magnetic tracks 6 to rotate. The laser generator 4 is installed on the work vehicle body 7. A blowing device is installed at the front end of the work vehicle body 7 to blow away the iron filings that fall off after laser rust removal. The chassis magnetic suction component 13 is connected to the bottom of the work vehicle body 7. The chassis magnetic suction component 13 and the magnetic tracks are used to apply positive pressure. The resultant force on the magnetic tracks 6 and the connecting parts can pull the magnetic tracks 6 to move.

[0033] The work vehicle body 7 enables the robot to climb walls and move through the structure of magnetic tracks 6 and chassis magnetic blocks 62. The laser generator 4 is connected to the laser generator electrical control cabinet 9 in the control components. The control system of the wall-climbing rust removal robot, the control system of the laser generator 4, and the control system of the blowing device are all integrated and controlled by the ground control components, or they can be controlled remotely. The control technology can refer to the design of existing robot control systems, which will not be described in detail.

[0034] The blowing device has the function of blowing away iron filings that fall off after laser rust removal. By intermittently blowing away the laser rust removal area, it reduces the impact of iron filings on the walking deviation of the wall-climbing rust removal robot 1 during its movement.

[0035] The wall-climbing rust removal robot 1 is fixedly connected to a laser generator 4 and has a fixed rust removal angle. Combined with an air blowing device 5, it periodically blows away and cleans the debris generated during the rust removal process.

[0036] The laser generator 4 enables laser rust removal. The air blowing device at the laser generator 4 also serves as a cooling device. Multiple tests have verified that the laser generator 4 can achieve the optimal rust removal standard when it is 0.6-1.3m away from the working surface. Taking into account the overall shape design and structural layout, the laser generator 4 is placed above the mobile working part, with a vertical distance of 0.6m from the laser working surface and an overall height of 0.6m. The angle formed by the laser irradiation path and the working plane is 45°, and the laser irradiation distance is 0.85m. The laser operation area is 0.2m away from the front end of the mobile working part to cover the working range of the blowing device.

[0037] The magnetic track 6 includes a track and magnetic blocks 62. Each section of the track is connected to a soft iron with a cavity. The cavity is used to wrap the magnetic block 62. The middle part of the magnetic block 62 is fixed to the soft iron by screws. The bottom of the cavity is used to contact the wall surface, and the contact area is treated with curved surface buffering. The side of each magnetic block 62 that contacts the wall surface is exposed and not wrapped by the cavity, which is used for walking and adsorption.

[0038] The chassis magnetic component 13 uses a strong magnet sheet. Both the magnetic block 62 and the strong magnet sheet are custom-made neodymium iron boron magnets. In this embodiment, the commonly used N38 neodymium iron boron magnet is selected. To ensure the adsorption effect of the chassis magnetic component 13, the magnetic attraction force and the friction force between the moving working part and the wall are calculated using the formula. The formula for calculating the magnetic attraction force is: F = V * ρ * 600, where 600 is a constant, V is the volume of the magnetic block 62, and ρ is the density of the magnetic block 62, which is approximately 7.5 g / cm³. The formula for sliding friction is: F f =μ*F n μ: coefficient of sliding friction, F n : Positive pressure. F l Magnetic track attraction, F d The magnetic attraction force of the chassis magnetic component 13 can be calculated by applying the above formula. To ensure safety, the sum of the magnetic attraction forces of the chassis magnetic component 13 and the magnetic track 6 must be greater than or equal to the normal force F required to overcome friction. l +F d ≥F n Gravity formula: G = mg. m is the total weight of the robot and the towed cable. The magnetic adsorption unit mainly provides the adsorption force for the wall-climbing rust removal robot 1, enabling it to stably adhere to the wall. The wall-climbing rust removal robot 1 mainly experiences two failure modes on the wall: slippage failure and tipping failure. To effectively avoid failure issues, the magnetic adsorption unit needs to provide a sufficiently large adsorption force.

[0039] like Figure 6 As shown, the frictional force F f=G, the coefficient of friction is related to the material and surface roughness of the contact surface. The wall is made of steel. According to research, the minimum coefficient of friction with other metals under no lubrication conditions is 0.15. To ensure overall safety, a safety factor of 2.5 is set. The effective ratio ω of the magnetic blocks 62 in the track 61 area is ≤50%. Due to the gaps in the magnetic blocks 62 in the chassis area, the attraction effect decreases with the increase of distance. It can be expressed by the following formula: F(d)=K*m1*m2 / d2. F(d) represents the magnitude of the magnetic force, K is a constant, m1 and m2 represent the magnetic moments of the two magnetic field sources, and d represents the distance between the two magnetic field sources. To ensure that the moving working part is subjected to uniform force, the chassis magnetic attraction component 13 uses 6 strong magnets with a radius of 60mm and a height of 8mm, which are evenly distributed. The magnetic blocks 62 used in the track structure are all 60*15*8mm in size, with a total of 100 blocks on the left and right tracks 61, of which 40 can directly attract and contact the wall surface. Force analysis shows that when the frictional force Ff is greater than or equal to the weight G of the mobile working unit, it can adhere to the steel wall surface without slipping. The mobile working unit weighs 45 kg, and the attached cable weighs 8 kg. The coefficient of friction is related to the material and surface roughness of the contact surface. The minimum coefficient of friction between the steel wall and other metals without lubrication is 0.15. Fn = Ff / u = G / u = mg / u = (45 + 8) * 9.8 / 0.15 ≈ 3463 N. The normal force provided by the track is 60 * 15 * 8 * 0.0075 * 600 / 1000 * 40 = 1296 kg. The normal force provided by the chassis is π * 60 * 60 * 8 * 0.0075 * 600 / 1000 * 6 ≈ 2443 kg. The actual total normal force exceeds the theoretically required normal force, enabling the mobile working unit to safely climb the wall.

[0040] The magnetic block 62 in the magnetic track structure is a strong magnetic block 62 encased in a custom-designed cavity of soft iron, and the two are fixed together with screws through pre-drilled holes in the middle of the strong magnetic block 62. The overall advantages of the pure iron encasing design are: firstly, it can achieve a magnetic focusing effect, enhancing the magnetic attraction of the exposed magnet surface; secondly, it can isolate part of the magnetic force by the soft iron shell, reducing the impact of iron filings falling during the cleaning process on the robot's movement; and thirdly, the cavity design has a curved buffer treatment at the contact point with the adsorption surface, reducing the wear on the magnets during the movement of the moving workpiece. Based on the current situation where existing magnetic wall-climbing rust removal robots applied to the rust removal field attract iron filings to the chassis magnet and the tracked magnetic chain, using a cavity encasing each magnet block on the chain made of pure iron, leaving only the side in contact with the wall for adsorption during movement, can greatly reduce the amount of iron filings attracted to the chain magnets, thereby reducing the wear of iron filings on the magnetic block 62 during movement, the amount of sliding offset during movement, and the amount of subsequent cleaning work.

[0041] The magnetic track 6 uses customized magnetic blocks 62 to control its movement through a chain structure. The track is a double-row chain that fixes the magnetic blocks 62. In the double-row chain design, the width of the magnetic blocks 62 is increased to 50-80mm. The double-row chain design is more conducive to structural stability, the force on the overall moving parts is more balanced, and the chain is less likely to deform and fall off during operation, effectively increasing the fatigue life of the parts and improving the fatigue resistance of the mechanical parts. In addition, the contact surface of the overall magnetic blocks 62 can be larger than that designed in the single-chain structure, which can not only enhance the adsorption effect of the magnetic blocks 62, but also make the moving working part move more smoothly.

[0042] See Figure 4 As shown, the fall arrestor 3 is installed at the top of the storage tank and is connected to the front of the mobile work vehicle via a safety rope. The wall-climbing rust removal robot 1 is connected to a differential fall arrestor 12 via the safety rope in the fall arrestor 3. The differential fall arrestor 12 is fixed to the windproof ring of the storage tank by a U-shaped safety lock. When the falling speed of the wall-climbing rust removal robot 1 exceeds 2m / s, the differential fall arrestor 12 automatically locks.

[0043] To further enhance equipment safety, a fall arrestor design is incorporated. This design utilizes multiple differential fall arrestors 12 with multi-directional traction to address the safety risk of collisions with surrounding objects caused by excessive tilting angles when using a single fall arrestor during robot operation. The differential fall arrestors 12 are connected to the front of the work vehicle body 7 via safety ropes. In practical applications, the number of fall arrestors 12 should be selected based on the working range of the work vehicle body 7, the mobile drive unit 14, and the magnetic tracks 6, as well as the ease of operation for personnel within the differential fall arrestor 12's locking area. Given the current application scenario of a large storage tank with a windbreak and pedestrian access, two differential fall arrestors 12 can be used, with personnel alternating their positions at the windbreak fence. The differential fall arrestor 12 selected in this case has the following advantages: it employs a unique "double locking device" structure, ensuring stable locking, a high safety factor, and good reliability. During normal use, the safety rope will automatically extend and retract with the moving mechanism. Under the action of the internal mechanism, it is in a semi-emergency state. In the event of a loss of control and fall, the safety rope will be pulled out at a significantly faster speed, and the internal locking system will automatically lock, ensuring that the safety rope is pulled out no more than 0.2 meters. Once the load is released, the differential fall arrestor 12 will automatically return to its working state.

[0044] The mobile work vehicle is connected to the ground control components via an integrated wiring harness, which includes wires, air pipes, etc. Thermoplastic tubing is used for tightening at key points, and the entire wiring harness is wrapped in conduit, maintaining the flexibility of the individual wires while providing some protection and reducing damage to the wiring from friction against the wall surface during robot movement. The power control box 8 of the wall-climbing rust removal robot is integrated with the laser generator control cabinet 9 and the cooling cabinet 10, facilitating wiring management and the movement and arrangement of the entire device. The integrated control cabinet allows for unified layout and saves space, reducing manpower requirements during operation. Wiring management ensures consistent force direction during robot wall climbing, avoiding risks caused by uneven force distribution.

[0045] The working vehicle body 7 of the wall-climbing rust removal robot 1 is connected to the ground control unit 2 via an integrated wiring harness. The ground control unit 2 is an integrated design and installation of the robot power control box 8, the laser generator electrical control cabinet 9, and the cooling cabinet 10. It also includes a walking remote control device and a blowing device control module, facilitating the movement and arrangement of the device and the integrated installation of the wiring harness. The control unit is equipped with buttons for controlling the wall-climbing rust removal robot, starting and stopping the laser generator, starting and stopping the blowing device, and adjusting parameters, as well as a robot remote control handle 11. The laser generator 4 is connected to the laser generator electrical control cabinet 9 via an integrated wiring harness.

[0046] The specific installation and usage steps for the aforementioned wall-climbing rust removal robot can be as follows:

[0047] Step 1: Connect the U-shaped safety lock on the fall arrestor 3 to the differential fall arrestor 12 with a safety rope. Install the U-shaped safety lock on the windproof ring of the storage tank and connect the safety rope of the differential fall arrestor 12 to the wall climbing machine 1 person.

[0048] Step 2: Place the assembled wall-climbing rust removal robot on the steel working surface and open the protective cover on the laser generator 4.

[0049] Step 3: Set parameters such as walking speed and walking mode of the wall-climbing rust removal robot through the ground control component 2.

[0050] Step 4: Start the laser generator electrical control cabinet 9 through the ground control component 2 to ensure the safety of the working environment during the laser rust removal process. Switch between manual remote control mode and the set automatic continuous operation path through the robot remote control handle 11 in the ground control component 2 to carry out the rust removal operation.

[0051] Step 5: After completing a certain rust removal process, adjust the position of the wall-climbing rust removal robot 1 using the robot remote control handle 11 to proceed to the next process.

[0052] Step 6: After all rust removal processes are completed, turn off the laser generator control cabinet 9 and drive the wall-climbing rust removal robot 1 to the unloading area via the robot remote control handle 11.

[0053] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely illustrative of the principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention.

Claims

1. A wall-climbing derusting robot, characterized by comprising: The wall climbing rust removal robot comprises a chassis magnetic suction component (13), a laser generator (4), a moving driver (14), a working vehicle box body (7) and a magnetic track (6), the moving driver (14) is arranged in the working vehicle box body (7), the magnetic track (6) is connected on both sides of the working vehicle box, the moving driver (14) is drivingly connected with the magnetic track (6) and is used for driving the magnetic track (6) to rotate, the laser generator (4) is connected in the middle of the working vehicle box body (7), one end of the working vehicle box body (7) facing the emission port of the laser generator (4) is provided with a blowing device (5) and is used for blowing the iron filings falling after laser rust removal, the chassis magnetic suction component (13) is connected at the bottom of the working vehicle box body (7), the chassis magnetic suction component (13) and the magnetic track (6) are used for applying pressure to the outer surface of the wall, and the resultant force borne by the connecting position between the magnetic track (6) and the outer surface of the wall can drag the magnetic track (6) to walk along the outer surface of the wall.

2. The wall-climbing derusting robot according to claim 1, characterized in that, The magnetic track (6) comprises a track (61) and a magnetic block (62), each section of the track (61) is connected with soft iron having a cavity groove, the magnetic block (62) is arranged in the cavity groove, the magnetic block (62) is fixedly connected with the soft iron through a screw, the bottom of the cavity groove is used for contacting the wall surface, and the contact surface is a smooth curved surface, one surface of each magnetic block (62) contacting the wall surface is not wrapped by the cavity groove and is used for attracting the wall surface.

3. The wall-climbing derusting robot according to claim 1, characterized in that, The laser generator (4) is arranged at a position, which is less than 0.2 m from the working vehicle box body (7) and is in the laser operation area of the laser generator (4), and is the working range of the blowing device.

4. The wall-climbing derusting robot according to claim 1, characterized in that, The total sum of the attraction of the chassis magnetic attraction part (13) and the magnetic track (6) is greater than or equal to the friction force F f The required positive pressure F n : F l + F d ≥ F n ; where: F l is the force of attraction of the magnetic track (6) d is the force of attraction of the chassis magnetic attraction means (13) The formula of the friction force between the magnetic track (6) and the wall surface is: f = μ * F n , F f ≥ G; wherein: μ is the coefficient of sliding friction, F n G is the weight force of the wall-climbing derusting robot when connected with the cable.

5. The wall-climbing derusting robot according to claim 3, wherein The wall climbing rust removal robot further comprises a falling prevention device (3), the falling prevention device (3) is connected to the upper part of the wall and comprises a plurality of speed difference falling preventers (12), and the plurality of speed difference falling preventers (12) multi-directionally drag the working vehicle box body (7).

6. The wall-climbing derusting robot according to claim 5, characterized in that, The speed difference falling preventers (12) are connected with the working vehicle box body (7) through safety ropes and U-shaped safety locks.

7. The wall-climbing derusting robot according to claim 5, characterized in that, The laser generator (4), the moving driver (14) and the ground control component (2) are connected through an integrated wire harness, the ground control component (2) is arranged on the ground, the integrated wire harness comprises electric wires and air pipes arranged side by side, the integrated wire harness is bundled and clamped by using a thermoplastic pipe, and the integrated wire harness is wrapped by a wire wrapping pipe.

8. The wall-climbing derusting robot according to claim 7, characterized in that, The ground control component (2) is integrated with a power supply control box (8), a laser generator electric control cabinet (9), a cooling cabinet (10), a walking remote control device and a blowing controller, the power supply control box (8) is used for supplying power to the electric devices of the wall climbing rust removal robot, the laser generator electric control cabinet (9) is electrically connected with the laser generator (4) through electric wires and is used for controlling the laser generator (4) to emit laser, the cooling cabinet (10) is used for cooling the electric devices in the ground control component (2), the walking remote control device is connected with the moving driver through electric wires and is used for receiving a remote control emission wireless signal to control the moving driver to start a driving operation, and the blowing controller is electrically connected with the blowing device through electric wires and is used for controlling the blowing device to blow air.

9. The wall-climbing derusting robot according to claim 1, characterized in that, The blowing device comprises a mounting frame and a nozzle, the mounting frame is connected to the end of the working vehicle box body (7) far from the laser generator (4), and the nozzle is mounted on the mounting frame.

10. The wall-climbing derusting robot according to claim 9, characterized in that, The bottom surface of the mounting frame is provided with a brush for removing rust.

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