Dual filament differential traction device and control method for a flying spider

Abstract

The application discloses a double-filament differential traction device and control method of a flying spider. The device comprises a light glue warehouse, an extrusion screw, an extrusion mechanism, a light source, an end fixing assembly, an electromagnetic reversing assembly, a double-filament assembly and a controller. After the flying spider completes initial wall adhesion, the extrusion mechanism extrudes glue and forms first and second glue filaments under the action of the light source, the end fixing assembly fixes the two glue filaments at the wall surface, the double-filament assembly independently recycles the two glue filaments and realizes wall adhesion movement, turning and attitude adjustment through the recycling speed difference, and the electromagnetic reversing assembly and the double-filament assembly cooperate to complete peeling and rewinding when the flying spider is detached. The device and method can reduce negative pressure power consumption while improving wall adhesion stability, movement controllability and material recycling.

Description

Technical Field

[0001] This invention relates to the field of aircraft wall-attaching operation and adhesion control technology, specifically to a dual-silk differential traction device and control method for a flying spider. Background Technology

[0002] With the continuous expansion of special application scenarios such as wall inspection, facade surveying, curtain wall inspection and indoor high-level operations, wall-adhesive flying spiders (or wall-climbing robots) are the core equipment for performing high-altitude wall tasks. They play a crucial role in maintaining a stable position on vertical or inclined walls and performing operations. Their wall-adhesive stability, movement controllability and operating endurance directly determine the efficiency of construction operations and the safety of the equipment. Currently, existing wall-mounted adhesive flying spider solutions generally use propellers or fans to create a negative pressure chamber for wall adhesion, and then use wheels for movement along the wall. While this type of solution achieves the basic core functions of attachment and movement, it still has significant limitations in several dimensions: 1. Existing negative pressure adsorption solutions typically require fans to output a large airflow for extended periods to maintain adsorption force. During continuous operation, this high-intensity negative pressure maintenance results in extremely high overall power consumption and a severely short operating time, making it difficult to meet the needs of large-area, long-duration vertical surface operations. 2. Existing adsorption methods have poor adaptability to the working surface environment. When facing rough surfaces, structural gaps, or when the machine's contact position needs to be significantly changed, traditional negative pressure adsorption is prone to leakage, resulting in insufficient adsorption margin and posing a significant safety hazard of equipment falling from heights. 3. Existing improvement schemes that attempt to reduce reliance on negative pressure (such as introducing biomimetic adhesion or tethering structures) often have control defects. Traditional single-point tethering systems cannot effectively resist lateral slippage and rotational torque, making it difficult for the equipment to maintain stable body attachment and precise motion direction control during movement, which severely limits the operational accuracy of the equipment. 4. The existing traction or adhesion solutions have extremely imperfect desorption and recovery mechanisms. When the equipment needs to be desorbed or transferred for recovery after completing its operation, the stripping process is prone to entanglement of the traction wire, wire breakage and failure, and even leaving residual adhesive pollution on building walls, resulting in high maintenance costs for subsequent cleaning and equipment reuse. To address the aforementioned shortcomings, relevant technological explorations have been undertaken. For example, the introduction of photocurable adhesives or peelable adhesive materials has provided a technological foundation for static anchoring; the maturity of mechanisms such as multi-channel winches has also made complex traction control possible. However, how to organically integrate the above technologies to construct a flying spider traction device and method capable of achieving dual-point fixation to reduce reliance on negative pressure, achieving precise directional movement through differential traction, and enabling controllable and pollution-free material recycling remains a pressing technical challenge in the current special robot industry. Summary of the Invention

[0003] The technical problem addressed by this application is that existing wall-mounted adhesive flying spiders suffer from high dependence on continuous negative pressure, high power consumption, insufficient wall adhesion stability and movement controllability, and are prone to residue and material waste during desorption and recovery. To solve these problems, this application provides a dual-silk differential traction device and control method for flying spiders.

[0004] According to a first aspect of this application, this application provides a dual-silk differential traction device for a flying spider, comprising: UV-curing adhesive storage tank, used for storing UV-curing adhesives; An extrusion screw is connected to the discharge end of the UV-curing adhesive tank and is used to transport the UV-curing adhesive. An extrusion mechanism, connected to the extrusion screw drive, is used to extrude the light-curing adhesive; A light source, corresponding to the extrusion mechanism, is used to irradiate the extruded photocurable adhesive and cure it to form a first adhesive filament and a second adhesive filament. An end fixing assembly is used to fix the ends of the first adhesive wire and the second adhesive wire to the first attachment point and the second attachment point on the wall, respectively. An electromagnetic reversing assembly is connected to the extrusion mechanism, the end fixing assembly, and the double take-up assembly, and is used to guide two rubber filaments to the end fixing assembly in the filament-laying state, and to guide two rubber filaments to the double take-up assembly in the take-up state. The controller is connected to the extrusion mechanism, the light source, the end fixing assembly, the electromagnetic reversing assembly, and the dual take-up assembly, respectively, and is used to control the above units to work together so that the flying spider can form a dual-point tether after initial contact with the wall and realize wall-attached movement, turning, attitude adjustment and detachment recovery through differential recovery.

[0005] Furthermore, the extrusion mechanism includes a drive motor, a reduction transmission assembly, a screw barrel, and an extrusion nozzle. The drive motor is connected to the extrusion screw via the reduction transmission assembly. The light source is positioned around or downstream of the filament exit path of the extrusion nozzle so that the extruded adhesive solidifies into filaments before reaching the adhesion point.

[0006] Furthermore, the end fixing assembly includes an adhesive tank, a peristaltic pump communicating with the adhesive tank, a conduit communicating with the peristaltic pump, and a dispensing port and a clamping member corresponding to the first attachment point and the second attachment point. The peristaltic pump delivers adhesive to the dispensing port through the conduit, and the clamping member is used to apply pressure to the end of the adhesive filament after dispensing.

[0007] Furthermore, the dual take-up assembly includes a first take-up channel and a second take-up channel. The first take-up channel includes a first take-up nozzle, a first take-up drum, a first guide wheel, and a first peeling edge. The second take-up channel includes a second take-up nozzle, a second take-up drum, a second guide wheel, and a second peeling edge. The first peeling edge and the second peeling edge are respectively used to apply a peeling action to the wall adhesive points during recycling, so that the first adhesive thread and the second adhesive thread are detached from the wall and rewound.

[0008] Furthermore, the device also includes a tension sensor and / or a length detection encoder connected to the controller, and a cutting machine connected to the dual take-up assembly. The controller adjusts the extrusion speed, end fixing parameters, and take-up speed according to tension or length feedback. The cutting machine is used to cut and collect the rewound filaments when the rewind amount reaches a preset value.

[0009] According to a second aspect of this application, this application provides a dual-wire differential traction control method for a flying spider, applied to the dual-wire differential traction device described in the first aspect above. The dual-wire differential traction control method includes: Initial adsorption step: Control the flying spider to generate negative pressure, so that the flying spider initially adheres to the wall surface; Fabric preparation steps: Control the electromagnetic commutation component to switch to the fabric state, and guide the fabric path to the end fixing component; Filament formation step: Drive the extrusion mechanism to extrude the light-curing adhesive, and cure it under light source to form the first filament and the second filament; End fixing step: Control the end fixing component to fix the ends of the first adhesive wire and the second adhesive wire to the first attachment point and the second attachment point on the wall, respectively; Pressure reduction and energy saving steps: After confirming that the two points are fixed, control the flying spider to reduce or turn off the negative pressure; Differential movement steps: The two take-up channels of the dual take-up assembly are controlled to independently retrieve and pull the first and second filaments, and the flying spider can move, turn or adjust its posture along the wall by the difference in retrieval speed; Desorption and recycling steps: When desorption or transfer is required, control the electromagnetic reversing component to switch to the recycling state, and control the dual take-up component to peel the two adhesive filaments from the wall and rewind them for recycling.

[0010] The beneficial effects of this application are: Compared with existing technologies, this application has the following significant technical advantages: First, regarding reduced power consumption and extended battery life, traditional solutions require continuous maintenance of high negative pressure to counteract gravity and overturning moment, resulting in extremely high power consumption. This application uses photocurable adhesive filaments to establish dual-point mooring. After confirming reliable adhesion, the negative pressure is significantly reduced or turned off, relying solely on filament tension to maintain wall adhesion. This reduces the negative pressure maintenance power to β times the original level (0≤β<1), significantly extending the single-operation time. Second, regarding wall adhesion stability and movement controllability, traditional single-point mooring cannot effectively resist lateral slippage and rotational torque, resulting in poor movement accuracy. This application utilizes the independent differential control of dual filament take-up components to generate precise yaw torque using the tension difference between the two points, achieving decoupled control of translation and steering. Combined with closed-loop tension adjustment, it can maintain stable adhesion and precise trajectory even on rough and crevice surfaces. Third, regarding desorption, recycling, and material reuse, existing solutions are prone to filament breakage, residual adhesive contamination, or entanglement during the peeling process. This application sets up a first peeling edge and a second peeling edge, and by adjusting the peeling angle and recycling speed, the adhesive filaments are controllably peeled from the wall and rolled back. Combined with a cutting machine for cutting and storage, this achieves residue-free material recycling, eliminates wall contamination, and reduces material waste. Fourth, regarding system integration, this application integrates the filament making, filament laying, fixing, differential traction, and recycling functional components into a unified controller for collaborative management. Seamless switching between filament laying and recycling states is achieved through an electromagnetic reversing component. The structure is compact and suitable for various wall-mounted adhesive flying spider platforms. Attached Figure Description

[0011] Figure 1 This is a schematic diagram of the overall structure of a dual-winding differential traction device according to an embodiment of the present invention; Figure 2 This is a schematic diagram of the dual take-up assembly channel according to an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the principle of differential traction for wall movement according to an embodiment of the present invention; Figure 4 This is a schematic diagram of the extrusion mechanism and the principle of filament ejection molding according to an embodiment of the present invention; Figure 5 This is a block diagram of a dual-channel take-up closed-loop control according to an embodiment of the present invention; Figure 6 This is a schematic diagram of the operation mode switching according to an embodiment of the present invention; Figure 7 This is a schematic flowchart of a control method according to an embodiment of the present invention. Detailed Implementation

[0012] Please refer to Figure 1This application discloses a flying spider dual-coil differential traction device 100, which includes a light-curing adhesive tank 110, an extrusion screw 120, an extrusion mechanism 170, a light source 210, an electromagnetic reversing assembly 160, a dual-coil assembly 180, and a controller 200, which are described below.

[0013] The UV-curing adhesive container 110 is used to store UV-curing adhesives. Specifically, it is used to store UV-curing adhesives that can be rapidly cured under ultraviolet light or light of a specific wavelength.

[0014] The extrusion screw 120 is connected to the discharge end of the UV-curing adhesive tank 110 and is used to transport UV-curing adhesive. For example, it can stably transport UV-curing adhesive to the extrusion mechanism 170.

[0015] The extrusion mechanism 170 is driven by the extrusion screw 120 and is used to extrude the light-curing adhesive. Specifically, it includes a drive motor, a reduction gear assembly, a screw barrel, and an extrusion nozzle 171. Figure 4 The drive motor drives the extrusion screw 120 to rotate via the reduction transmission assembly. The light-curing adhesive is conveyed forward along the inside of the screw barrel under the thrust of the screw blades and gradually pressurized, and finally stably discharged through the extrusion nozzle 171.

[0016] The light source 210 is correspondingly arranged with the extrusion mechanism to irradiate the extruded light-curing adhesive and cure it to form a first adhesive filament and a second adhesive filament. Specifically, it can be installed around or downstream of the filament exit path of the extrusion nozzle 171 to irradiate the freshly extruded liquid adhesive and cure it to form a first adhesive filament and a second adhesive filament before reaching the adhesion point.

[0017] The end-fixing assembly is connected to the filament output end of the electromagnetic reversing assembly to fix the ends of the first and second adhesive filaments to the first and second attachment points on the wall, respectively. This assembly includes an adhesive reservoir 130, a peristaltic pump 140 communicating with the adhesive reservoir 130, a conduit 150 communicating with the peristaltic pump 140, and dispensing ports and clamping members corresponding to the first and second attachment points 221 and 222 on the wall. During bonding, the peristaltic pump 140 precisely delivers adhesive through the conduit 150 to the dispensing port, applying it to the ends of the adhesive filaments or attachment points. Subsequently, the clamping member applies a predetermined pressure to ensure a tight fit between the ends of the adhesive filaments and the wall, completing the dual-point fixation.

[0018] The electromagnetic reversing assembly 160 is connected to the extrusion mechanism, the end fixing assembly, and the dual take-up assembly. It guides the first and second adhesive filaments to the end fixing assembly in the filament-laying state and to the dual take-up assembly in the rewinding state. It has switchable guide channels internally. In the filament-laying state, the electromagnetic reversing assembly 160 guides the first and second adhesive filaments to the end fixing assembly respectively to complete the adhesion point bonding; in the rewinding state, it guides the two adhesive filaments to the dual take-up assembly 180 for subsequent traction, peeling, and rewinding.

[0019] The dual take-up assembly 180 is used for independent take-up and traction of the first and second rubber filaments, respectively. Please also refer to... Figure 2 The dual take-up assembly 180 consists of a first take-up channel and a second take-up channel. The first take-up channel includes a first take-up nozzle 181, a first take-up drum 182, a first guide wheel 183, and a first peeling edge 185; the second take-up channel includes a second take-up nozzle 184, a second take-up drum 186, a second guide wheel 187, and a second peeling edge 188. Two adhesive threads pass through their respective take-up nozzles and guide wheels and are then wound onto their corresponding take-up drums. The first peeling edge 185 and the second peeling edge 188 are positioned close to the adhesion point, applying a peeling force to the adhesion point during the take-up process, causing the adhesive threads to detach cleanly from the wall and rewind back to the drum.

[0020] Furthermore, the device 100 also includes a tension sensor and a length encoder electrically connected to the controller 200, as well as a cutting machine 190 matched with the dual take-up assembly. The tension sensor detects the tension of the two adhesive filaments in real time, the length encoder monitors the take-up length, and the controller 200 uses this information to achieve closed-loop adjustment of the take-up speed and dispensing amount, ensuring reliable bonding and smooth traction. The cutting machine 190 automatically starts when the amount of adhesive filament rewinding reaches a preset threshold, cutting and storing the recovered adhesive filaments for the next operation.

[0021] The controller 200 is used for signal connection and control of the extrusion mechanism 170, light source 210, end fixing assembly, electromagnetic reversing assembly 160, and dual take-up assembly 180, so that the flying spider forms a dual-point tether after initial adhesion to the wall and achieves wall-adhesion movement and desorption recovery through differential recovery. Its built-in control logic is used to coordinate the actions of each unit throughout the entire process of filament formation, filament distribution, fixing, differential movement, and desorption recovery.

[0022] Accordingly, this application also proposes a dual-web differential traction control method for flying spiders, such as... Figure 7 As shown, steps S701 to S707 are included, and are described below: Initial Adhesion Step S701: Control the flying spider to generate negative pressure, allowing it to initially adhere to the wall. Specifically, activate the negative pressure generating device of the flying spider to create sufficient negative pressure between the body and the wall, allowing the flying spider to initially adhere to the target wall. This step only needs to provide a brief initial adhesion, creating conditions for subsequent webbing and fixation. For wall-adhesive flying spiders, one or more suction cups and connected air passages can be installed. Vacuuming or inflating the air passages using a vacuum pump or similar device creates negative pressure on the suction cups to adhere to the wall, while inflating creates positive pressure (or zero internal and external pressure) to detach from the wall.

[0023] Fabric preparation step S702: Control the electromagnetic reversing assembly 160 to switch to the fabric state. Specifically, the controller 200 switches the electromagnetic reversing assembly 160 to the fabric state, so that the fabric output path of the extrusion mechanism 170 is connected to the end fixing assembly, while ensuring that the dual take-up assembly is not engaged at the moment.

[0024] Filament formation and end fixing steps S703: The extrusion mechanism 170 is driven to extrude the light-curing adhesive, which is then cured under the illumination of the light source 210 to form a first adhesive filament and a second adhesive filament; the end fixing assembly is controlled to fix the ends of the first adhesive filament and the second adhesive filament to the first attachment point 221 and the second attachment point 222 on the wall, respectively. Specifically, during the process, the extrusion mechanism 170 extrudes the light-curing adhesive at a preset speed, and the adhesive cures when passing through the area irradiated by the light source 210, forming a continuous first adhesive filament and a second adhesive filament with a certain strength. At the same time, the controller 200 activates the end fixing assembly: the peristaltic pump 140 delivers the adhesive in the adhesive tank 130 to the corresponding dispensing port through the conduit 150. The amount of adhesive dispensed can be adjusted by the controller 200 through feedback according to the wall material, roughness, and the current posture of the machine body; after dispensing, the clamping member presses the ends of the two adhesive filaments together at the attachment point and holds them for a certain period of time until the adhesive initially cures, completing the double-point bonding.

[0025] Pressure Reduction and Energy Saving Step S704: After confirming that the double-point fixation is complete, the flying spider is controlled to reduce or turn off the negative pressure. Specifically, the controller 200 determines whether the double-point fixation is complete based on feedback from the tension sensor and / or length detection encoder. If yes, proceed to step S705; otherwise, return to step S703. When the tension of both adhesive filaments reaches the preset threshold, or the length of the two adhesive filaments reaches the preset length of the corresponding attachment point and remains stable, it can be confirmed that the double-point tethering has been established. At this time, the controller 200 issues a command to reduce the power of the negative pressure generating device or turn it off completely. Let the original negative pressure maintenance power be Pv, and the reduced power be Pv'=βPv, 0≤β<1, thereby significantly reducing the energy consumption during the continuous wall adhesion process, while the wall adhesion stability of the flying spider is entirely borne by the tension of the double-point adhesive filaments.

[0026] In differential movement step S705, the dual take-up assemblies are controlled to independently retrieve and pull the first and second filaments, and the difference in retrieval speed is used to achieve the flying spider's movement, turning, or attitude adjustment along the wall. The controller 200 controls the angular velocities of the first and second retrieval drums 182 and 186 respectively based on the input target movement trajectory. Combined with... Figure 3Let the radius of the first reel be r1 and its angular velocity be ω1, and the radius of the second reel be r2 and its angular velocity be ω2. Then the linear velocity of the first filament recovery is v1 = r1ω1, the linear velocity of the second filament recovery is v2 = r2ω2, and the differential velocity is Δv = v1 - v2. When the equivalent distance between the two filaments on the aircraft is d, the translational velocity v and yaw angular velocity ωz of the flying spider along the wall can be approximately expressed as v = (v1 + v2) / 2 and ωz = (v1 - v2) / d. Therefore, when v1 = v2, the aircraft moves in a straight line; when v1 ≠ v2, the aircraft yaws, achieving steering or attitude fine-tuning.

[0027] To ensure stable traction, controller 200 employs tension closed-loop control. Combined with... Figure 5 The steps of the dual-channel take-up closed-loop control are described as follows: First, a control command is issued (see step S501). Then, differential distribution is performed (see step S502), driving take-up in channel one (see step S503) and channel two (see step S504) respectively. Simultaneously, the tension of each channel is detected (see step S505) and the tension of channel two is detected (see step S506). Finally, unified feedback adjustment control is performed (see step S507). For the i-th take-up channel, let the target tension be Ti, the real-time detected tension be Ti, and the tension error ei = Ti - Ti. The controller generates the control quantity ui = Kpei + Ki∫ei dt + Kd dei / dt according to the PID algorithm to adjust the drive motor of the take-up drum, thereby suppressing the slack or over-stretching of the filament. At the same time, combined with the feedback from the attitude sensor, the speed difference is corrected in real time, so that the machine body accurately follows the target trajectory.

[0028] In the desorption and recovery step S706, when desorption or transfer is required, the electromagnetic reversing component is switched to recovery mode, and the dual take-up assembly is controlled to peel the first and second adhesive filaments from the wall and rewind them for recovery. When the flying spider completes its operation and needs to desorb, overcome obstacles, or end its mission, the controller 200 controls the electromagnetic reversing component 160 to switch to recovery mode, guiding the two adhesive filaments into the dual take-up assembly 180. Subsequently, the dual take-up assembly 180 operates in recovery mode, with the first take-up nozzle 181 and the second take-up nozzle 184 guiding the adhesive filaments to the recovery channel, respectively. During recovery, the first peeling edge 185 and the second peeling edge 188 are in close contact with the wall bonding point, and the effective peeling force Fp=Frsinφ is generated by the recovery pull force Fr on the bonding interface at the peeling angle φ, gradually peeling the adhesive filaments from the wall. The controller 200 balances peeling efficiency and filament breakage risk by adjusting the take-up speed and peeling angle, ensuring that the adhesive filaments are completely detached without leaving any residue.

[0029] Simultaneously, the controller 200 monitors the signal from the length detection encoder. When the rewind amount of any roll reaches the preset value, the cutting machine 190 is activated to cut the recovered rubber filaments and collect the cut filament segments. This completes the entire closed-loop operation from dual-point attachment, depressurization movement, to safe desorption and recovery.

[0030] In another embodiment, the operating mode can be flexibly selected according to actual working conditions. For example... Figure 6 The diagram shows the operation mode switching process, with specific steps S601-S608. Step S601 involves initial negative pressure adsorption; please refer to [reference needed]. Figure 7 Step S701; Step S602, filament / cloth filament bonding + adhesive application, please refer to the following for details. Figure 7 Step S702; Step S603: Reduce / close the negative pressure, please refer to the following for details. Figure 7 In steps S703, S704, and S705, in step S603, it is also necessary to determine the subsequent control action for the flying spider: whether to adjust its attitude to continue the operation or to detach it after completing the operation. This determines whether to proceed to step S604 or S606 as needed. In step S604, the system switches to differential adjustment mode and moves the spider using differential filament winding. Then, in step S605, the attitude trajectory is adjusted. In step S606, at the end of the operation, the system switches to retrieval mode, then proceeds to step S607 to peel off and rewind the filament, and finally executes step S608 to cut the filament and retrieve it. Of course, in some cases... Figure 6 After step S605, proceed to step S606, which will not be described in detail here.

[0031] The above description, in conjunction with specific embodiments, provides a further detailed explanation of this application and should not be construed as limiting the specific implementation of this application to these descriptions. For those skilled in the art, without departing from the inventive concept of this application, several simple deductions or substitutions can be made regarding the structural form of the electromagnetic commutation component, the dispensing method, the photocuring method, the differential control strategy, and the recycling and cutting-off method.

Claims

1. A dual-silk differential traction device for a flying spider, characterized in that, include: UV-curing adhesive storage tank, used for storing UV-curing adhesives; An extrusion screw is connected to the discharge end of the UV-curing adhesive tank and is used to transport the UV-curing adhesive. An extrusion mechanism, connected to the extrusion screw drive, is used to extrude the light-curing adhesive; A light source, corresponding to the extrusion mechanism, is used to irradiate the extruded photocurable adhesive and cure it to form a first adhesive filament and a second adhesive filament. An end fixing component is connected to the cloth wire output end of the electromagnetic commutation component, and is used to fix the ends of the first adhesive wire and the second adhesive wire to the first attachment point and the second attachment point on the wall, respectively. A dual take-up assembly is used to independently retract and pull the first and second adhesive filaments respectively. An electromagnetic reversing assembly, connected to the extrusion mechanism, the end fixing assembly, and the dual-filament take-up assembly, is used to guide the first and second adhesive filaments to the end fixing assembly in the filament-laying state, and to guide the first and second adhesive filaments to the dual-filament take-up assembly in the retrieval state; a controller is used to signal-connect and control the extrusion mechanism, the light source, the end fixing assembly, the electromagnetic reversing assembly, and the dual-filament take-up assembly, so that the flying spider forms a dual-point tether after initial wall adhesion and achieves wall-adhesion movement and detachment retrieval through differential retrieval.

2. The dual-silk take-up differential traction device for flying spiders according to claim 1, characterized in that, The extrusion mechanism includes a drive motor, a reduction gear transmission assembly, a screw barrel, and an extrusion nozzle. The drive motor is connected to the extrusion screw via the reduction gear transmission assembly. The light source is located around or downstream of the filament exit path of the extrusion nozzle to solidify the extruded adhesive into filaments.

3. The dual-silk take-up differential traction device for flying spiders according to claim 1, characterized in that, The end fixing assembly includes an adhesive tank, a peristaltic pump communicating with the adhesive tank, a conduit communicating with the peristaltic pump, and a dispensing port and a clamping member corresponding to the first attachment point and the second attachment point. The peristaltic pump delivers adhesive to the dispensing port through the conduit, and the clamping member is used to apply pressure to the end of the adhesive filament after dispensing.

4. The dual-silk take-up differential traction device for flying spiders according to claim 1, characterized in that, The dual take-up assembly includes a first take-up channel and a second take-up channel. The first take-up channel includes a first take-up nozzle, a first take-up drum, a first guide wheel, and a first peeling edge. The second take-up channel includes a second take-up nozzle, a second take-up drum, a second guide wheel, and a second peeling edge. The first peeling edge and the second peeling edge are respectively used to apply a peeling action to the wall adhesive points during recycling, so that the first adhesive thread and the second adhesive thread are detached from the wall and rewound.

5. The dual-silk take-up differential traction device for flying spiders according to claim 1, characterized in that, Also includes: The controller includes a tension sensor and / or a length detection encoder connected to the controller signal, and a cutting machine connected to the dual take-up assembly. The controller adjusts the extrusion speed, end fixing parameters, and take-up speed based on tension and / or length feedback. The cutting machine is used to cut and collect the rewound filaments when the rewind amount reaches a preset value.

6. A method for differential traction control of a flying spider using dual-silk take-up mechanisms, characterized in that, The dual-twist differential traction device applied to any one of claims 1-5, the dual-twist differential traction device comprising a light-curing adhesive tank, an extrusion screw, an extrusion mechanism, a light source, an end fixing assembly, a dual-twist assembly, an electromagnetic reversing assembly, and a controller, the controller executing the dual-twist differential traction control method and comprising the following steps: Initial adsorption step: Control the flying spider to generate negative pressure, so that the flying spider initially adheres to the wall surface; Fabric preparation steps: Control the electromagnetic commutation component to switch to the fabric state; Filament formation step: Drive the extrusion mechanism to extrude the light-curing adhesive, and cure it under the light source to form the first adhesive filament and the second adhesive filament; End fixing step: Control the end fixing component to fix the ends of the first adhesive wire and the second adhesive wire to the first attachment point and the second attachment point on the wall, respectively; Pressure reduction and energy saving steps: After confirming that the two points are fixed, control the flying spider to reduce or turn off the negative pressure; Differential movement steps: The dual-filament retrieval assembly is controlled to independently retrieve and pull the first and second filaments, and the flying spider can move, turn, or adjust its posture along the wall by means of the difference in retrieval speed; Desorption and recycling steps: When desorption or transfer is required, the electromagnetic reversing component is controlled to switch to the recycling state, and the dual winding component is controlled to peel the first and second adhesive threads from the wall and rewind them for recycling.

7. The dual-twist differential traction control method according to claim 6, characterized in that, In the pressure reduction and energy saving step, the completion of dual-point fixation is confirmed by the following methods: detecting that the tension of the first adhesive filament and the second adhesive filament reaches a preset threshold, and / or detecting that the laying length of the first adhesive filament and the second adhesive filament reaches the preset length of the corresponding attachment point and remains stable.

8. The dual-twist differential traction control method according to claim 6, characterized in that, The end-fixing assembly includes an adhesive tank, a peristaltic pump connected to the adhesive tank, and a conduit connected to the peristaltic pump. In the end-fixing step, the peristaltic pump is controlled to deliver adhesive to the first attachment point and the second attachment point through the conduit, and the amount of adhesive applied is adjusted according to the wall material, roughness, and orientation angle. After the application is completed, the peristaltic pump is controlled to retract to reduce dripping.

9. The dual-twist differential traction control method according to claim 6, characterized in that, In the differential movement step, the dual take-up assembly is controlled to take up the first filament and the second filament respectively in a dual-channel constant tension manner, and the target take-up speed difference between the first take-up channel and the second take-up channel is determined according to the movement trajectory of the flying spider, so as to differentially distribute the take-up speed of the first filament and the second filament.

10. The dual-twist differential traction control method according to claim 6, characterized in that, In the desorption and recycling step, after detecting that the recycling amount of the dual-twist differential traction device has reached a preset value, the cutting machine connected to the dual-twist assembly is activated to cut and collect the recycled filaments.

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