An intelligent anti-corrosion coating winding wall-climbing robot and method for marine facilities

Abstract

This disclosure provides an intelligent winding and climbing robot and method for anti-corrosion coating of marine facilities. The robot includes: a robot body; an adsorption module disposed on the robot body for generating adsorption force to attach the robot to the surface to be constructed; a moving mechanism disposed on the robot body for driving the robot to move along a preset path on the surface to be constructed; a coating processing system disposed on the robot body for carrying the coating roll, controlling the coating conveying rate, and cutting the coating to a set length; a surface treatment module disposed on the robot body for cleaning or polishing the surface in front of the robot during its movement; and a bonding and rolling module disposed on the coating output end of the coating processing system for rolling the anti-corrosion coating conveyed by the coating processing system onto the surface treated by the surface treatment module with a preset pressure and bonding angle.

Description

Technical Field

[0001] The embodiments disclosed herein belong to the technical field of corrosion protection construction equipment, specifically relating to an intelligent winding wall-climbing robot for anti-corrosion coating of marine facilities and its construction method. Background Technology

[0002] Offshore wind power operates in harsh environments characterized by high temperatures, high humidity, and high salt spray, making corrosion prevention extremely challenging. Wind turbine towers are massive, with diameters exceeding 10 meters and heights typically exceeding 100 meters, resulting in enormous surface areas. Traditional corrosion prevention methods suffer from cumbersome construction processes, poor adaptability, and difficulty in guaranteeing quality. They primarily rely on manual high-altitude work, requiring workers to be suspended tens or even hundreds of meters in the air using suspended platforms, scaffolding, or safety ropes to manually remove rust, grind, and paint under conditions of high winds and limited space. This method suffers from low construction efficiency, high labor costs, significant safety risks, and inconsistent construction quality. Furthermore, it is severely constrained by the environment; severe weather can immediately interrupt manual high-altitude work, leading to poor controllability of construction plans and significantly impacting operation and maintenance cycles.

[0003] In recent years, wall-climbing robot technology has been applied in fields such as inspection and cleaning. However, in corrosion protection and repair construction, especially in the automated laying of flexible composite coating materials, there is still a lack of mature and efficient solutions. Existing construction processes mostly rely on manual operations, which cannot meet the needs of efficient, high-quality, and standardized repair of large structures.

[0004] Therefore, developing a specialized automated equipment that can replace manual labor, adapt to structures with ultra-large height and diameter, and achieve efficient, high-quality, and high-safety anti-corrosion construction has become a key technological bottleneck that urgently needs to be overcome in the field of offshore wind power operation and maintenance. Summary of the Invention

[0005] The embodiments disclosed herein aim to at least solve one of the technical problems existing in the prior art, and provide an intelligent winding wall-climbing robot for anti-corrosion coating of marine facilities and a construction method thereof.

[0006] A first aspect of the embodiments of this disclosure provides an intelligent winding wall-climbing robot for corrosion-resistant coating of marine facilities, comprising: Robot body; An adsorption module, disposed on the robot body, is used to generate an adsorption force to make the robot adhere to the surface to be worked on; A mobile mechanism, disposed on the robot body, is used to drive the robot to move along a preset path on the surface to be constructed; A coating processing system, installed on the robot body, is used to carry the coating roll, control the coating conveying rate, and cut the coating to a set length; A surface treatment module, disposed on the robot body, is used to clean or polish the surface in front of the robot during the robot's movement. The bonding roller pressing module is located at the coating output end of the coating processing system and is used to apply the anti-corrosion coating delivered by the coating processing system to the surface treated by the surface treatment module by roller pressing with a preset pressure and bonding angle.

[0007] Optionally, the robot body is equipped with a control unit, a power system and a communication module electrically connected to the control unit; The coating processing system includes an unwinding mechanism for carrying the anti-corrosion coating roll, a tension controller for controlling the tension of the coating conveying, and a cutting module for cutting the coating at the end of the construction process. The control unit controls the movement path of the moving mechanism based on navigation and positioning information, and controls the coating conveying tension and bonding pressure in a closed loop based on feedback signals from the tension controller and the bonding roller module.

[0008] Optionally, the adsorption module includes a negative pressure adsorption chassis with an independent adsorption chamber, and a vacuum generating system that provides negative pressure to the adsorption chamber.

[0009] Optionally, the moving mechanism includes a drive wheel and a load-bearing wheel that are driven and connected to the robot body, and a track that is arranged around the drive wheel and the load-bearing wheel; wherein the drive wheels on opposite sides of the robot body are configured to be independently controlled.

[0010] Optionally, the bonding roller module includes: A silicone roller is disposed on the robot body, and its roller surface is covered with an elastic material; A cylinder, connected to the mounting bracket of the silicone roller, is used to drive the silicone roller to apply pressure to the surface to be worked on; A pressure sensor, installed in the cylinder or the silicone roller, is used to monitor the actual pressing force of the silicone roller on the surface to be constructed in real time. The control unit is configured to receive the signal from the pressure sensor and adjust the output of the cylinder.

[0011] Furthermore, it also includes: a vision and navigation system, which includes: The navigation and positioning unit is used to acquire the position and attitude information of the robot on the construction surface in real time; A visual inspection unit, located in the bonding roller module, is used to image the surface of the bonded coating to detect defects. The control unit adjusts the motion trajectory of the moving mechanism in real time based on the feedback information from the navigation and positioning unit, and adjusts the process parameters based on the image analysis results from the vision detection unit.

[0012] A second aspect of the embodiments of this disclosure provides a method for applying an anti-corrosion coating using a wall-climbing robot, the method being implemented using the wall-climbing robot described above, comprising: Based on the three-dimensional surface model of the structure to be protected or through on-site scanning by the robot, plan the robot's movement and winding path; The wall-climbing robot is attached and positioned at the starting point of the construction, and its surface treatment module is activated to clean or polish the surface to be constructed along the planned path. The robot is driven to move along the planned path, the coating processing system is started to continuously deliver the coating, and the coating is pressed tightly against the surface to be constructed with constant tension by the bonding and rolling module and then rolled. The overlap width between adjacent coating rings is controlled by controlling the robot's movement trajectory, and at the end of the construction area, the coating is cut off by the coating treatment system and the end is compacted. After construction, allow it to cure naturally at room temperature for 24-72 hours.

[0013] Optionally, the method can be applied to the surface of offshore wind power steel structures such as towers, jackets, and pile foundations for corrosion protection and repair.

[0014] The beneficial effects of the embodiments of this disclosure include: (1) Improved construction efficiency and safety: The wall-climbing robot replaces manual high-altitude dangerous operations, can carry out construction around the clock and continuously, improves efficiency several times, and eliminates safety risks such as falling from heights.

[0015] (2) Uniform and reliable construction quality: The robot precisely controls the construction parameters (pressure, tension, overlap, path), eliminating the influence of human factors and ensuring that the protective layer is free of bubbles and wrinkles, has uniform thickness and consistent adhesion, which greatly improves the reliability and durability of the protective effect.

[0016] (3) Strong ability to adapt to complex structures: The robot can adapt to large cylindrical curved surface structures and ensure that the coating can be tightly attached and uniformly stressed on the curved surface through the adaptive bonding mechanism.

[0017] (4) Realize intelligent construction management: The robot can integrate detection sensors to realize quality monitoring of the construction process (such as real-time detection of bonding pressure and air bubbles), and link with the digital twin model to realize digital management and traceability of the construction process. Attached Figure Description

[0018] Figure 1This is an overall structural diagram of the wall-climbing robot provided in the embodiments of this application; Figure 2 This is an overall structural diagram of the wall-climbing robot from the bottom view provided in the embodiments of this application; Figure 3 This is a schematic diagram of the structure of the wall-climbing robot coating system and bonding roller module provided in the embodiments of this application during operation.

[0019] In the diagram: 1. Robot body; 2. Adsorption module; 21. Negative pressure adsorption chassis; 3. Moving mechanism; 31. Drive wheel; 32. Load-bearing wheel; 33. Track; 4. Vision and navigation system; 5. Surface treatment module; 6. Coating treatment system; 61. Unwinding mechanism; 62. Tension controller; 7. Laminating roller module; 71. Silicone pressure roller; 72. Cylinder; 73. Pressure sensor; 8. Cutting module; 81. Guide rail; 82. Cylinder; 83. Cutting blade; 84. Cylinder; 9. Anti-corrosion coating; 10. Tower. Detailed Implementation

[0020] To enable those skilled in the art to better understand the technical solutions of this disclosure, the disclosure will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0021] The embodiments of this application will be further described in detail below with reference to the accompanying drawings and examples. The detailed descriptions and accompanying drawings of the following embodiments are used to exemplarily illustrate the principles of this application, but should not be used to limit the scope of this application; that is, this application is not limited to the described embodiments. In the description of this application, it should be noted that, unless otherwise stated, "a plurality of" means two or more; the terms "upper," "lower," "left," "right," "inner," "outer," etc., indicating orientation or positional relationships are only for the convenience of describing this application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of this application. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance. "Vertical" is not strictly vertical, but within the allowable error range. "Parallel" is not strictly parallel, but within the allowable error range.

[0022] In the description of this application, it should also be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "joining" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this application depending on the specific circumstances.

[0023] like Figure 1-3As shown, an intelligent winding and climbing robot for anti-corrosion coating of marine facilities includes: robot body 1, adsorption module 2, moving mechanism 3, coating treatment system 6, surface treatment module 5, and bonding roller pressing module 7.

[0024] An adsorption module 2 is disposed on the robot body 1 to generate an adsorption force so that the robot adheres to the surface to be worked on. A moving mechanism 3 is disposed on the robot body 1 to drive the robot to move along a preset path on the surface to be worked on.

[0025] A coating processing system 6 is disposed on the robot body 1, used to carry the coating roll, control the coating conveying speed, and cut the coating to a set length. A surface treatment module 5 is disposed on the robot body 1, used to clean or polish the surface in front of the robot during the robot's movement.

[0026] The bonding roller pressing module 7 is located at the coating output end of the coating processing system 6 and is used to apply the anti-corrosion coating 9 delivered by the coating processing system 6 to the surface processed by the surface treatment module 5 with a preset pressure and bonding angle.

[0027] In this application, a robot integrates multiple modules such as adsorption and movement, surface treatment, coating conveying, and intelligent rolling to achieve automated anti-corrosion coating wrapping construction on the surface of large marine facilities (such as offshore wind turbine towers). Specifically, this application replaces traditional high-risk, inefficient manual high-altitude operations with robots, and ensures high safety during the construction process through closed-loop control (such as constant tension, constant pressure, and precise path tracking). It also significantly improves construction efficiency and the uniformity and reliability of coating adhesion quality, thereby effectively extending the anti-corrosion life of the structure.

[0028] In some embodiments, the robot body 1 is provided with a control unit, a power system and a communication module electrically connected to the control unit.

[0029] The coating processing system 6 includes an unwinding mechanism 61 for carrying the anti-corrosion coating roll, a tension controller 62 for controlling the tension of the coating conveying, and a cutting module 8 for cutting the coating at the end of the construction process.

[0030] The control unit controls the movement path of the moving mechanism based on navigation and positioning information, and controls the coating conveying tension and bonding pressure in a closed loop based on feedback signals from the tension controller and the bonding roller module 7.

[0031] In this application, an integrated control unit is used to achieve multi-parameter closed-loop coordinated control of the robot's motion path, coating tension, and bonding pressure. This setup ensures that during high-altitude curved surface construction, the coating always adheres tightly with precise tension and stable pressure, effectively preventing defects such as blistering and wrinkling caused by uneven tension or pressure fluctuations, thereby guaranteeing the absolute uniformity of anti-corrosion construction quality.

[0032] In some embodiments, the adsorption module 2 includes a negative pressure adsorption chassis 21 with an independent adsorption chamber, and a vacuum generating system that provides negative pressure to the adsorption chamber.

[0033] In this application, the design can effectively adapt to complex walls such as welds and uneven surfaces, and can still provide reliable adsorption force when some suction cups fail, thus ensuring the stability and safety of the robot when working at heights.

[0034] In some embodiments, the moving mechanism includes a drive wheel 31 and a load-bearing wheel 32 that are driven on the robot body, and a track 33 that is arranged around the drive wheel and the load-bearing wheel 32, wherein the drive wheels on opposite sides of the robot body are configured to be independently controlled.

[0035] In some embodiments, the bonding roller module 7 includes a silicone roller 71, a cylinder 72, and a pressure sensor 73.

[0036] A silicone roller 71 is mounted on the robot body, and its roller is covered with an elastic material. A cylinder 72 is connected to the mounting frame of the silicone roller 71 and is used to drive the silicone roller to apply pressure to the surface to be constructed.

[0037] A pressure sensor 73 is disposed on the cylinder 72 or the silicone roller to monitor in real time the actual pressing force of the silicone roller on the surface to be treated. The control unit is configured to receive the signal from the pressure sensor 73 and adjust the output of the cylinder 72.

[0038] In this application, a constant pressure closed-loop control system is constructed through cylinder drive, silicone roller bonding, and pressure sensor feedback. This system dynamically compensates for minute undulations on the construction surface, ensuring that the coating is always subjected to uniform and precise vertical pressure during bonding. This efficiently removes air bubbles, achieving a tight, defect-free bond between the coating and the wall surface, significantly improving construction quality.

[0039] In some embodiments, the wall-climbing robot also includes a vision and navigation system 4, which includes a navigation and positioning unit and a vision detection unit.

[0040] The navigation and positioning unit is used to acquire the robot's position and attitude information on the surface to be constructed in real time. The vision inspection unit is set in the bonding roller module 7 and is used to image the bonded surface to detect defects.

[0041] The control unit adjusts the motion trajectory of the moving mechanism in real time based on the feedback information from the navigation and positioning unit, and adjusts the process parameters based on the image analysis results from the vision detection unit.

[0042] The wall-climbing robot of this application integrates multiple functional modules such as adsorption and movement, surface treatment, material conveying, precise positioning, and intelligent rolling. It can move stably on vertical, inclined walls, and curved surfaces autonomously or remotely to complete continuous, tight, and uniform winding of coatings. The robot specifically includes a robot body, an adsorption module, a movement mechanism, a vision and navigation system, a surface treatment module, a coating treatment system, and a bonding and rolling module.

[0043] The robot's main body adopts a lightweight, high-strength frame and has a built-in battery (power system), main control computer (control unit), and communication module.

[0044] Furthermore, the adsorption module 2 adopts a distributed independent negative pressure adsorption chamber to provide vertical wall adsorption force, and the moving mechanism 3 adopts a tracked moving mechanism with strong obstacle crossing ability.

[0045] Furthermore, the vision and navigation system 4 is located at the front end of the robot and is equipped with a lidar and a high-definition camera. It is used to construct a three-dimensional map of the work surface, identify features such as welds and bolts, and locate the robot in real time.

[0046] Furthermore, the surface treatment module 5 is located at the front end of the robot and can be equipped with a rotating wire brush or sanding disc to automatically grind and clean the area on the moving path.

[0047] Furthermore, the coating processing system 6 is located at the rear end of the robot and includes a quick-change coating roll support shaft, a servo motor-driven conveyor roller assembly, a precision tension controller, and a cutting module 8.

[0048] Furthermore, the bonding roller pressing module 7 is located behind the coating outlet and consists of a silicone roller 71 and a cylinder 72. The roller pressure can be precisely adjusted by a motor.

[0049] This application provides an automated construction process based on the aforementioned wall-climbing robot. The process includes steps such as path planning, automated surface treatment, continuous wrapping of the coating, overlap control, and compaction. By precisely controlling the tension, bonding pressure, overlap width, and wrapping trajectory of the coating through the robot, a high degree of consistency and repeatability in construction quality is ensured.

[0050] A second aspect of the embodiments of this disclosure provides a method for applying an anti-corrosion coating using a wall-climbing robot, the method being implemented using the wall-climbing robot described above, comprising: S101. Based on the three-dimensional surface model of the structure to be protected or through on-site scanning by the robot, plan the robot's movement and winding path.

[0051] S102. Position the wall-climbing robot at the starting point of construction, activate its surface treatment module 5, and clean or polish the surface to be constructed along the planned path.

[0052] S103, drive the robot to move along the planned path, start the coating processing system 6 to continuously deliver the coating, and use the bonding and rolling module 7 to press the coating tightly against the surface to be constructed with constant tension and roll it.

[0053] S104. The overlap width between adjacent coating rings is controlled by controlling the robot's movement trajectory. At the end of the construction area, the coating is cut by the coating processing system 6 and the end is compacted.

[0054] S105. After construction, allow to cure naturally at room temperature for 24-72 hours.

[0055] In some embodiments, the method is applied to the corrosion protection and repair construction of the surface of the tower 10, jacket, and pile foundation of offshore wind power steel structures.

[0056] This application discloses a robot with a negative pressure adsorption chassis and a tracked mobile mechanism capable of stably adsorbing onto structural surfaces. An integrated coating processing system comprises a belt supply, guidance, and a constant-pressure bonding roller module, as well as a vision and navigation system for coordinated control. Designed specifically for multi-functional anti-corrosion coating construction, this robot can autonomously plan its path after acquiring a 3D structural model of the target corrosion site. During movement, it achieves constant tension delivery, constant pressure bonding, and online quality inspection of the coating, ultimately completing spiral or circumferential winding. This application automates anti-corrosion construction in high-risk environments, effectively replacing manual labor and improving work efficiency, quality consistency, and safety.

[0057] Example 1 like Figure 1-3 As shown, a wall-climbing robot for anti-corrosion coating construction includes a robot body 1, an adsorption module 2, a moving mechanism 3, a vision and navigation system 4, a surface treatment module 5, a coating treatment system 6, a bonding and rolling module 7, and a cutting module 8.

[0058] The robot body 1 adopts a lightweight and high-strength frame and has a built-in battery (power system), main control computer (control unit), and communication module.

[0059] Furthermore, the adsorption module 2 adopts a distributed independent negative pressure adsorption chamber. Multiple independent adsorption chambers are distributed on the negative pressure adsorption chassis 21 and are connected to the vacuum generation system (located inside the machine body) through internal pipelines to provide vertical wall adsorption force. This design allows some suction cups to cross weld seams or uneven surfaces while the remaining suction cups can still provide sufficient adsorption force, resulting in high system reliability.

[0060] This application employs dual-sided independently driven tracks as the mobility solution, providing strong obstacle-crossing capabilities. The mobile mechanism 3 consists of drive wheels 31, load-bearing wheels 32, and annular tracks 33. This design eliminates the need for magnetic surfaces on the robot, and the tracks' excellent grounding and obstacle-crossing capabilities make it particularly suitable for movement on welded or curved tower surfaces.

[0061] Furthermore, the vision and navigation system 4 is located at the front end of the robot, equipped with a lidar and a high-definition camera, used to construct a 3D map of the work surface, identify features such as welds and bolts, and perform real-time positioning. The central controller within the vision and navigation system 4 (typically built on a high-performance industrial computer) receives signals from the navigation and positioning unit (such as a lidar and vision fusion system), process sensors (such as tension and pressure sensors), and the vision inspection unit. After processing this information, the central controller sends commands to the drive controller (controlling track movement and vacuum adsorption) and the operation controller (controlling coating conveying and roller pressure), forming multiple closed-loop control circuits.

[0062] Furthermore, the surface treatment module 5 is located at the front end of the robot and can be equipped with a rotating wire brush or sanding disc to automatically grind and clean the area on the moving path.

[0063] Furthermore, the coating processing system 6 integrates a high-precision servo-driven unwinding mechanism 61 and a built-in closed-loop tension controller 62 to ensure constant coating conveying tension and prevent stretching or wrinkling.

[0064] Furthermore, the bonding roller module 7 is located behind the coating outlet and consists of a silicone roller 71 and a cylinder 72. During operation, the pressure actuator dynamically adjusts the downward pressure of the silicone roller 71 through the cylinder 72 based on preset values ​​and real-time feedback from the pressure sensor 73, ensuring a constant and uniform vertical pressure is applied to the anti-corrosion coating 9 to bond it to the surface of the tower 10. A vision inspection unit is immediately connected behind the silicone roller to continuously scan and image the newly bonded coating surface, using image processing algorithms to detect and mark bubbles, foreign objects, or wrinkles in real time.

[0065] Furthermore, the cutting module 8 is located at the end of the coating processing system 6. After the coating is applied, the position of the cutting blade 83 is adjusted by the guide rail 81 and the cylinder 82. The cutting blade is pressed down by the cylinder 84 to cut the anti-corrosion coating 9, which can achieve a flat and precise cut.

[0066] Example 2 A method for applying an anti-corrosion coating to a wind turbine tower using a wall-climbing robot includes the following steps: (1) Preliminary preparation and path planning: The actual model of the tower to be repaired area is obtained by 3D scanning. The construction range, coating width (100mm) and overlap rate (50%) are set in the control software, and the software automatically generates the spiral winding path of the robot.

[0067] (2) Robot positioning and surface treatment: The robot is delivered to the starting point of the tower construction and is attached to the wall. After starting, the robot moves along the planned path, and the front grinding head automatically grinds and cleans the path area, and the waste is collected by the dust collection device.

[0068] (3) Automated winding construction: The robot starts from the starting point and spirals upwards along the circumference and axial direction of the tower according to a preset pitch. During the movement: The coating treatment system releases the coating with constant tension. The silicone pressure roller of the bonding roller module presses the coating tightly against the freshly treated clean wall surface. The floating pressure plate ensures that the coating is uniformly pressed in the direction normal to the curved surface of the tower, and expels air. The vision and navigation system monitors the bonding quality in real time, and can automatically mark or rework any bubbles or wrinkles found.

[0069] (4) Finishing work: After reaching the top of the construction area, the robot automatically cuts the anti-corrosion coating and uses a silicone roller to reinforce and compact the end.

[0070] (5) Curing: After all construction is completed, the anti-corrosion coating is cured for 48 hours under environmental conditions to form a complete protective layer.

[0071] Performance testing The process described in Example 2 was used to construct a tower section with a diameter of 5 meters and a height of 10 meters.

[0072] Construction efficiency: The total area of ​​the wrapping project was approximately 157 square meters, with a net working time of about 9 hours, and the daily efficiency far exceeded 100 square meters.

[0073] Construction quality: Random samples were taken and peel strength tests were conducted at 23℃±2℃. The average peel strength of the coating to steel was 6.3N / cm. There were no visible bubbles or wrinkles on the entire surface. The overlap width error was within ±2mm.

[0074] Protective performance: After construction, the specimens underwent 5000 hours of salt spray test and 1000 hours of ultraviolet aging test. All performance indicators met the design requirements, and there were no abnormalities at the edges and joints.

[0075] The beneficial effects of this application include: (1) Improved construction efficiency and safety: The wall-climbing robot replaces manual high-altitude dangerous operations, can carry out construction around the clock and continuously, improves efficiency several times, and eliminates safety risks such as falling from heights.

[0076] (2) Uniform and reliable construction quality: The robot precisely controls the construction parameters (pressure, tension, overlap, path), eliminating the influence of human factors and ensuring that the protective layer is free of bubbles and wrinkles, has uniform thickness and consistent adhesion, which greatly improves the reliability and durability of the protective effect.

[0077] (3) Strong ability to adapt to complex structures: The robot can adapt to large cylindrical curved surface structures and ensure that the coating can be tightly attached and uniformly stressed on the curved surface through the adaptive bonding mechanism.

[0078] (4) Realize intelligent construction management: The robot can integrate detection sensors to realize quality monitoring of the construction process (such as real-time detection of bonding pressure and air bubbles), and link with the digital twin model to realize digital management and traceability of the construction process.

[0079] It is understood that the above embodiments are merely exemplary embodiments used to illustrate the principles of this disclosure, and this disclosure is not limited thereto. For those skilled in the art, various modifications and improvements can be made without departing from the spirit and substance of this disclosure, and these modifications and improvements are also considered to be within the scope of protection of this disclosure.

Claims

1. A smart, winding, wall-climbing robot for corrosion protection coating in marine facilities, characterized in that, include: Robot body; An adsorption module, disposed on the robot body, is used to generate an adsorption force to make the robot adhere to the surface to be worked on; A mobile mechanism, disposed on the robot body, is used to drive the robot to move along a preset path on the surface to be constructed; A coating processing system, installed on the robot body, is used to carry the coating roll, control the coating conveying rate, and cut the coating to a set length; A surface treatment module, disposed on the robot body, is used to clean or polish the surface in front of the robot during the robot's movement. The bonding roller pressing module is located at the coating output end of the coating processing system and is used to apply the anti-corrosion coating delivered by the coating processing system to the surface treated by the surface treatment module by roller pressing with a preset pressure and bonding angle.

2. The wall-climbing robot as described in claim 1, characterized in that, The robot body is equipped with a control unit, a power system and a communication module electrically connected to the control unit; The coating processing system includes an unwinding mechanism for carrying the anti-corrosion coating roll, a tension controller for controlling the tension of the coating conveying, and a cutting module for cutting the coating at the end of the construction process. The control unit controls the movement path of the moving mechanism based on navigation and positioning information, and controls the coating conveying tension and bonding pressure in a closed loop based on feedback signals from the tension controller and the bonding roller module.

3. The wall-climbing robot as described in claim 1, characterized in that, The adsorption module includes a negative pressure adsorption chassis with an independent adsorption chamber, and a vacuum generation system that provides negative pressure to the adsorption chamber.

4. The wall-climbing robot as described in claim 1, characterized in that, The moving mechanism includes a drive wheel and a load-bearing wheel that are driven by the robot body, and a track that is arranged around the drive wheel and the load-bearing wheel; wherein the drive wheels on opposite sides of the robot body are configured to be independently controlled.

5. The wall-climbing robot as described in claim 2, characterized in that, The bonding roller pressing module includes: A silicone roller is disposed on the robot body, and its roller surface is covered with an elastic material; A cylinder, connected to the mounting bracket of the silicone roller, is used to drive the silicone roller to apply pressure to the surface to be worked on; A pressure sensor, installed in the cylinder or the silicone roller, is used to monitor the actual pressing force of the silicone roller on the surface to be constructed in real time. The control unit is configured to receive the signal from the pressure sensor and adjust the output of the cylinder.

6. The wall-climbing robot as described in claim 2, characterized in that, Also includes: Vision and navigation systems, including: The navigation and positioning unit is used to acquire the position and attitude information of the robot on the construction surface in real time; A visual inspection unit, located in the bonding roller module, is used to image the surface of the bonded coating to detect defects. The control unit adjusts the motion trajectory of the moving mechanism in real time based on the feedback information from the navigation and positioning unit, and adjusts the process parameters based on the image analysis results from the vision detection unit.

7. A method for applying an anti-corrosion coating using a wall-climbing robot, the method being implemented using the wall-climbing robot according to any one of claims 1-6, characterized in that, include: Based on the three-dimensional surface model of the structure to be protected or through on-site scanning by the robot, plan the robot's movement and winding path; The wall-climbing robot is attached and positioned at the starting point of the construction, and its surface treatment module is activated to clean or polish the surface to be constructed along the planned path. The robot is driven to move along the planned path, the coating processing system is started to continuously deliver the coating, and the coating is pressed tightly against the surface to be constructed with constant tension by the bonding and rolling module and then rolled. The overlap width between adjacent coating rings is controlled by controlling the robot's movement trajectory, and at the end of the construction area, the coating is cut off by the coating treatment system and the end is compacted. After construction, allow it to cure naturally at room temperature for 24-72 hours.

8. The method as described in claim 7, characterized in that, The method is applied to the corrosion protection and repair of the surfaces of offshore wind power steel structures, including towers, jackets, and pile foundations.

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