Wall surface operation apparatus and wall surface operation method

Abstract

The present application relates to the technical field of wall surface operation, and provides a wall surface operation apparatus and a wall surface operation method. The apparatus comprises a wall surface operation module assembly and a traction mechanism used for pulling the wall surface operation module assembly to move on an operation wall surface, wherein the wall surface operation module assembly comprises at least one wall surface operation module. The wall surface operation module comprises: at least two wall surface operation units spaced apart from each other in a first direction, wherein middle parts of two adjacent wall surface operation units are fixedly connected, at least one wall surface operation unit comprises a plurality of wall surface operation assemblies arranged at intervals in a second direction, two adjacent wall surface operation assemblies in each wall surface operation unit are hingedly connected, and two adjacent wall surface operation assemblies are arranged in a staggered manner in the first direction and at least partially overlap in the second direction; and a magnetic attraction assembly, comprising a plurality of magnetic attraction omnidirectional wheels, wherein the magnetic attraction omnidirectional wheels are located on the side of the wall surface operation module facing the operation wall surface. The present application improves the operation efficiency and ensures the uniformity and consistency of the operation quality.

Description

Wall-mounted work devices and wall-mounted work methods

[0001] This application claims priority to the following Chinese patent applications: application number 2024114709869, filed on October 21, 2024, entitled "Method and Apparatus for Wall Operation"; application number 2025103255693, filed on March 19, 2025, entitled "An Apparatus Adapted to Curved Surfaces"; application number 2025112044564, filed on August 26, 2025, entitled "Large-Range Operation Equipment and Method for Curved Surfaces"; and application number 202521959932.9, filed on September 11, 2025, entitled "Wastewater Recycling Module and Wall Operation System for Wall Operation System", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of wall operation technology, specifically to a wall operation device and a wall operation method. Background Technology

[0003] In shipbuilding, large storage tanks (such as LNG and oil tanks), wind turbine towers, large pressure vessels, and building curtain walls, there are numerous structures with extensive and complex curved surfaces. These structures require extensive operations throughout their lifecycle, including surface rust removal, painting, inspection, cleaning, and grinding. Traditional methods of manually erecting scaffolding or using aerial work platforms are inefficient, costly, unsafe, and subject to harsh working environments (such as high altitudes and confined spaces), failing to meet the demands of modern, efficient, safe, and high-quality operations. Therefore, there is an urgent market need for equipment capable of automatically or semi-automatically and stably moving on large curved structures to perform tasks.

[0004] Currently, some magnetic adsorption wall-climbing robots are used to handle complex curved surfaces. However, the working range of existing magnetic adsorption wall-climbing robots is limited. Completing large-area operations and multiple reciprocating operations (such as cleaning heavy oil stains on wind turbine towers) requires frequent movement and repositioning, resulting in low efficiency and difficulty in ensuring uniformity and consistency of work. Therefore, for curved working surfaces with extremely large surface areas and requiring multiple reciprocating operations, improving work efficiency and ensuring uniformity and consistency of work quality are urgent technical problems that need to be solved. Summary of the Invention

[0005] This application provides a wall-working device and a wall-working method, which can improve work efficiency and ensure the uniformity and consistency of work quality in work scenarios with large surface areas and curved working walls that require multiple reciprocating operations.

[0006] In a first aspect, a wall-working device is provided, comprising a traction mechanism and a wall-working module. The traction mechanism is used to traction the wall-working module to move and work on a working wall surface. The wall-working module includes at least one wall-working sub-module, which includes:

[0007] At least two wall-mounted operation units are arranged at intervals along a first direction, and adjacent wall-mounted operation units are fixedly connected at their midpoints. At least one wall-mounted operation unit includes multiple wall-mounted operation components, which are arranged at intervals along a second direction. Adjacent wall-mounted operation components in each wall-mounted operation unit are hinged together. Adjacent wall-mounted operation components in the first direction are staggered and at least partially overlap in the second direction. The first direction and the second direction are parallel and perpendicular to the movement direction of the wall-mounted operation module, respectively.

[0008] The magnetic adsorption assembly includes multiple magnetic adsorption casters, which are located on the side of the wall working module facing the working wall, and are used to adsorb onto the working wall.

[0009] By using a traction mechanism to move the wall-mounted work module, the module no longer needs to carry a heavy drive system, a large-capacity battery, or a complex navigation control system, thus reducing the weight of the wall-mounted work device. Furthermore, the traction mechanism can provide continuous and stable traction force, and very precisely control the two-dimensional or three-dimensional coordinates of the wall-mounted work module on the wall, enabling rapid and stable movement of the module. This is particularly suitable for large work areas or scenarios requiring multiple reciprocating operations, and improves work efficiency in such situations.

[0010] Each wall operation module includes at least two wall operation units. The adjacent wall operation components in two adjacent wall operation units are staggered, so that during actual operation, the rear wall operation units can cover the operation gaps of the front wall operation units, forming a continuous operation zone without omissions. This eliminates the missed operation areas caused by the spacing between the wall operation components in a single row of wall operation units, and 100% surface coverage can be achieved in a single pass.

[0011] Furthermore, the wall working components in each row of wall working units are hinged together, giving each row of wall working units a chain-like degree of freedom, allowing them to pitch / rotate independently. This enables the wall working modules to automatically conform to the working wall on curved walls, avoiding local suspension caused by rigid structures. This ensures that the working pressure is evenly distributed, preventing local over- or under-processing, thereby improving the efficiency of large-scale and reciprocating operations on curved working walls.

[0012] In some embodiments, the wall operation module includes multiple wall operation modules, which are arranged at intervals along a first direction or a second direction, and adjacent wall operation modules are connected by a suspension connector.

[0013] Multiple wall operation modules can be arranged at intervals along the first or second direction to form an overlapping operation matrix or an ultra-wide operation matrix, which increases the single-stroke operation area of ​​the wall operation module. For walls with ultra-large surface area and walls that require multiple reciprocating operations (such as heavy oil stain cleaning operations on wind turbine towers), the number of reciprocating movements of the equipment is significantly reduced, further improving the operation efficiency.

[0014] In some embodiments, the magnetic casters are located on the outside of the wall working assembly, and each wall working assembly has magnetic casters on opposite sides.

[0015] The installation of magnetic casters on both sides of the wall-mounted work assembly ensures adsorption stability, thereby ensuring that the wall-mounted work assembly maintains a better working posture during operation, thus improving the work quality and efficiency of the wall-mounted work module.

[0016] In some embodiments, a magnetically adsorbed universal wheel is shared between two adjacent wall-working components in each wall-working unit;

[0017] The wall working assembly includes a mounting frame and a cleaning disc brush. The cleaning disc brush is located on the side of the mounting frame facing the working wall. The cleaning disc brush includes a disc brush base and a brush body. The disc brush base is connected to the mounting frame, and the brush body is connected to the disc brush base.

[0018] By having two adjacent wall-working components in each wall-working unit share a single magnetic caster wheel, the number of magnetic casters is reduced, thereby reducing the weight of the wall-working module.

[0019] In some embodiments, the wall working assembly includes a drive component disposed on the mounting bracket, the output shaft of the drive component being connected to the cleaning disc brush, and the axis of the output shaft of the drive component being perpendicular to the working wall surface.

[0020] During operation, the drive unit drives the cleaning disc brush to rotate, and the rotating plane of the cleaning disc brush is parallel to the working wall surface, which enables the cleaning disc brush to efficiently remove firmly attached dirt from the working wall surface, further improving the cleaning efficiency of the working wall surface.

[0021] In some embodiments, the wall working module includes a nozzle and a nozzle bracket, the nozzle bracket being connected to the mounting bracket, the nozzle being disposed on the nozzle bracket, the nozzle being located on the side of the wall working module away from the ground and being used to spray liquid toward the working wall.

[0022] The wall cleaning module is equipped with nozzles, which can further rinse the areas cleaned by the cleaning disc brush, thereby improving the cleaning efficiency of the working wall.

[0023] In some embodiments, the number of wall operation components in two adjacent wall operation units differs by one, and adjacent wall operation components in each wall operation unit are connected by hinges.

[0024] The wall-mounted work components are connected by hinges, which allows for a wide range of pitch / yaw angles, making them suitable for work on walls with large curvatures. The hinges also provide good load-bearing capacity.

[0025] In some embodiments, the wall work module includes an accordion cover disposed on the side of the wall work module away from the work wall.

[0026] As a protective cover for the wall-mounted operation module, the accordion cover not only serves to prevent dust and foreign objects, but it can also extend and retract with the displacement of the wall-mounted operation components, always maintaining complete coverage and protection of the components without restricting their posture. This ensures stable adsorption of the magnetic adsorption components and efficient operation of the wall-mounted operation module.

[0027] In some embodiments, one end of the fixing frame of the wall operation component in the middle of the wall operation module has a recess that faces inward toward the cleaning disc brush, and the other end has a protrusion that faces outward toward the cleaning disc brush.

[0028] The mounting bracket with recesses and protrusions not only increases its strength but also reduces weight. The recesses are designed to provide installation space for adjacent wall-mounted components, while the protrusions provide a mounting base for magnetic casters.

[0029] In some embodiments, when a plurality of the wall operation modules are arranged at intervals along the second direction, two adjacent wall operation modules are 180 degrees apart, and adjacent wall operation components of two adjacent wall operation modules are connected by a suspension connector.

[0030] Multiple wall operation modules are arranged at intervals along the second direction, so that the multiple wall operation modules are in parallel structure, and the adjacent wall operation modules in parallel are arranged in opposite directions. This structure forms an ultra-wide operation matrix and also avoids missed operation areas between two wall operation modules.

[0031] In some embodiments, the traction mechanism includes a power end and a traction rope, wherein the power end includes a winch or a rope climber;

[0032] When the power end includes a rope climbing machine, the rope climbing machine is fixed to the side of the wall working module away from the working wall, and the traction rope is fixed to the anchor point;

[0033] When the power end includes a winch, the winch is fixed on the anchor point, the traction rope is supported on a fixed pulley and its end is connected to the wall working module.

[0034] By placing the rope climbing machine on the wall-mounted work module, the wall-mounted work module moves synchronously with the rope climbing machine. The wall-mounted work module itself can serve as a stable base, while the rope climbing machine provides reliable "mobility." By rigidly connecting the wall-mounted work module with the rope climbing machine or designing it as an integrated unit, potential failures such as those caused by separate and independent movements, such as those related to connection points and slings, can be reduced. This results in greater stability and controllability of the entire system.

[0035] In some embodiments, the wall-mounted work device includes a wastewater recovery module, the wastewater recovery module comprising:

[0036] A flow guiding component is arranged on the working wall surface. The flow guiding component has a flow guiding groove. The side of the flow guiding groove closest to the working wall surface is in contact with the working wall surface. The projection of the flow guiding groove on the working wall surface intersects with the direction of sewage flow. The flow guiding groove has an outlet end.

[0037] The support mechanism has one end fixed to the support base surface and the other end connected to the side of the guide channel away from the working wall surface.

[0038] The flow guiding component has a flow guiding channel, and the projection of the flow guiding channel on the working wall intersects with the direction of sewage flow. This structure allows sewage flowing along the working wall to be collected by the flow guiding channel, thus preventing sewage from spreading or splashing everywhere. Furthermore, one end of the support mechanism is fixed to a stable support base, and the other end supports the flow guiding channel, forming a stable triangular or cantilever beam support mechanism. This structure ensures that the entire sewage recovery module remains stable when subjected to water flow impact and its own weight, and will not easily shift or tip over, ensuring the continuity and reliability of the sewage collection process. At the same time, the design of the support mechanism allows it to adapt to working walls with different curvatures, thereby improving the applicability of the sewage recovery module.

[0039] In some embodiments, the support mechanism includes a fixed base, a connecting rod, and a fixing clamp. The fixed base is fixed to the support base surface, the fixing clamp is connected to the side of the guide channel away from the working wall surface, and the two ends of the connecting rod are respectively connected to the fixed base and the fixing clamp.

[0040] The guide channel is inclined from top to bottom along the direction of sewage flow.

[0041] The fixing clip, serving as the connection between the support mechanism and the flow guiding component, not only facilitates disassembly and installation but also further ensures the stability of the connection between the support mechanism and the flow guiding component, thereby ensuring the sewage collection effect.

[0042] In some embodiments, the supporting base is the wall of a wind turbine tower, the fixing seat is a magnetic seat, the magnetic seat is used to adhere to the wall of the wind turbine tower, and the connecting rod and the fixing clamp are connected by a hook.

[0043] By limiting the support surface to the wind turbine tower wall, the flow guiding components can be supported without relying on the ground or other mechanisms, further improving the ease of installation of the support mechanism. Furthermore, the support mechanism achieves adhesion to the working wall surface via a magnetic base, enabling rapid and non-damaging connection and separation between the support mechanism and the working wall surface, thus facilitating quick installation and disassembly of the support mechanism.

[0044] In some embodiments, the flow guiding component is arranged spirally upward along the axial direction of the wind turbine tower on the outer or inner wall surface of the wind turbine tower, and the material of the flow guiding component is a flexible waterproof sheet.

[0045] The flow guiding component is made of a flexible waterproof sheet, which allows it to adapt to walls with varying diameters from top to bottom. On curved working walls, the flexible flow guiding component fits well with the wall surface, ensuring good wastewater collection efficiency.

[0046] In some embodiments, the flexible waterproof sheet is a waterproof cloth, and the side of the waterproof cloth near the working wall is attached to the working wall by adhesive or magnetic attraction.

[0047] Furthermore, when the waterproof cloth is bonded to the working wall surface by an adhesive method, the waterproof cloth and the working wall surface are bonded together by waterproof tape.

[0048] The waterproof fabric is connected to the working wall surface by waterproof tape, with one part of the tape adhering to the working wall surface and the other part adhering to the waterproof fabric. This creates a continuous sealing ring, which not only seals the gap between the waterproof fabric and the working wall surface, but also, when these flexible waterproof tapes are pasted on slightly undulating or rough curved surfaces, the tape can deform and fill these uneven areas. This ensures the adhesion between the waterproof fabric and working walls with different curvatures, thereby ensuring the seal between the waterproof fabric and the uneven curved working wall surface, thus improving the efficiency of sewage collection.

[0049] According to another aspect of this application, a wall-working method is also disclosed, the wall-working method being applied to the wall-working apparatus described in any of the above embodiments, comprising:

[0050] The number and arrangement of the wall surface operation modules are determined based on the level of oil contamination on the wall surface to be worked on and the scope of the work.

[0051] Based on the determined number and arrangement of the wall operation modules, any two adjacent wall operation modules are connected by a suspension connector to form a wall operation module.

[0052] The traction mechanism pulls the wall operation module to move between the first operation point and the second operation point;

[0053] The wall operation module performs operations on the wall between the first operation point and the second operation point.

[0054] This method significantly reduces the number of equipment reciprocating movements and improves work efficiency for walls with extremely large surface areas and walls that require multiple reciprocating operations (such as cleaning heavy oil stains on wind turbine towers).

[0055] In some embodiments, the wall operation method includes:

[0056] Move the wall operation module to the third operation point;

[0057] The traction mechanism pulls the wall operation module between the third and fourth operation points;

[0058] The wall operation module performs operations on the wall between the third operation point and the fourth operation point.

[0059] Additional advantages, objectives, and features of this application will be set forth in part in the description which follows, and will in part become apparent to those skilled in the art upon review of the following description, or may be learned by practice of the application. The objectives and other advantages of this application can be realized and obtained by means of the structures specifically pointed out in the specification and drawings.

[0060] Those skilled in the art will understand that the purposes and advantages that can be achieved with this application are not limited to those specifically described above, and that the above and other purposes that this application can achieve will be more clearly understood from the following detailed description. Attached Figure Description

[0061] Figure 1 is a schematic diagram of the structure of a wall-mounted work device according to an embodiment of this application.

[0062] Figure 2 is a structural schematic diagram of a wall-mounted work device according to another embodiment of this application.

[0063] Figure 3 is a schematic diagram of the structure of the wall operation module of a wall operation device according to an embodiment of this application.

[0064] Figure 4 is a rear view of a wall operation module according to an embodiment of this application.

[0065] Figure 5 is a structural schematic diagram of a wall operation module according to another embodiment of this application.

[0066] Figure 6 is a structural schematic diagram of a wall operation module according to another embodiment of this application.

[0067] Figure 7 is a rear view of the wall operation module shown in Figure 6.

[0068] Figure 8 is a structural schematic diagram of a wall operation module according to an embodiment of this application.

[0069] Figure 9 is a structural schematic diagram of a wall operation module according to another embodiment of this application.

[0070] Figure 10 is a structural schematic diagram of a wall operation assembly according to an embodiment of this application.

[0071] Figure 11 is a schematic diagram of the arrangement of the flow guiding component according to an embodiment of this application.

[0072] Figure 12 is a cross-sectional schematic diagram of a flow guiding component according to an embodiment of this application.

[0073] Figure 13 is an enlarged schematic diagram of part B of the flow guiding component shown in Figure 11.

[0074] Figure 14 is a schematic diagram of the constriction portion of a flow guide component according to an embodiment of this application.

[0075] Figure 15 is a schematic flowchart of a wall operation method according to an embodiment of this application.

[0076] Figure 16 is a schematic diagram of the working path of a wall working device according to an embodiment of this application.

[0077] Figure 17 is a schematic flowchart of a wall operation method according to another embodiment of this application.

[0078] Figure 18 is a structural schematic diagram of a wall operation module according to another embodiment of this application.

[0079] Reference numerals: Wall working module 001, Wall working module 010, Wall working unit 100, Wall working component 110, Magnetic caster wheel 120, Bellows cover 130, Working wall surface 002, Fixing frame 111, Cleaning brush 112, Drive component 113, Nozzle 131, Nozzle bracket 133, Hinge 140, Suspension connector 011, Rope climber 031, Traction rope 032, Fixed pulley 033, Flow guide component 410, Flow guide channel 411, Closure part 412, Support mechanism 420, Fixing base 421, Connecting rod 422, Fixing clamp 423, Power supply 150, Rope bracket 160 Detailed Implementation

[0080] The embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The detailed description of the following embodiments and the accompanying drawings are used to illustrate the principles of this application by way of example, but should not be used to limit the scope of this application, that is, this application is not limited to the described embodiments.

[0081] In the description of this application, it should be noted that the terms "upper," "lower," "left," "right," "inner," and "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," and "third," 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. All technical and scientific terms used in this application have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used in the specification of this application is only for the purpose of describing specific embodiments and is not intended to limit this application; the terms "comprising" and "having," and any variations thereof, in the specification, claims, and foregoing description of the drawings of this application are intended to cover non-exclusive inclusion.

[0082] The directional terms used in the following description refer to the directions shown in the figures and are not intended to limit the specific structure of this application. It should also be noted in the description of this application that, unless otherwise explicitly 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 based on the specific circumstances.

[0083] In this application, the reference to "embodiment" means that a specific feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described in this application can be combined with other embodiments.

[0084] In this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent three possibilities: A exists, A and B exist, and B exists. Additionally, in this application, the character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0085] In this application, "multiple" refers to two or more (including two), and similarly, "multiple groups" refers to two or more (including two), and "multiple pieces" refers to two or more (including two).

[0086] In the embodiments of this application, the same reference numerals denote the same components, and for the sake of brevity, detailed descriptions of the same components are omitted in different embodiments. It should be understood that the thickness, length, width, and other dimensions of various components in the embodiments of this application shown in the accompanying drawings, as well as the overall thickness, length, width, and other dimensions of the integrated device, are merely illustrative and should not constitute any limitation on this application.

[0087] The wall-working device and method provided in this application can be applied to surface maintenance work on flat or curved surfaces, and are particularly suitable for surface maintenance work on walls that are vertical, inclined, or difficult to access. Specifically, they can be applied to surface maintenance work on equipment such as ship hulls, oil tanks, water tanks, bridges, high towers, and wind turbine towers, and can also be applied to metal surface maintenance work on large industrial equipment (such as boilers, reactors, etc.). In this application embodiment, wall-working can include maintenance work such as cleaning, painting, rust removal, and repair on the surface of large mechanical equipment.

[0088] This application does not limit the application scenarios and work items of the wall-mounted work device and wall-mounted work method, but only takes the cleaning of the surface of the wind turbine tower as an example for illustration.

[0089] Figure 1 is a structural schematic diagram of a wall working device according to an embodiment of the present application. As shown in Figure 1, the wall working device includes at least a traction mechanism and a wall working module 001. The traction mechanism is used to traction the wall working module 001 to move on the working wall surface 002. The wall working module 001 includes at least one wall working module 010.

[0090] As shown in Figures 8, 9, and 18, the wall operation module 010 includes a magnetic adsorption component and at least two wall operation units 100. The at least two wall operation units 100 are arranged at intervals along a first direction, and the middle of two adjacent wall operation units 100 are fixedly connected. At least one wall operation unit 100 includes multiple wall operation components 110, and the multiple wall operation components 110 are arranged at intervals along a second direction. Two adjacent wall operation components 110 in each wall operation unit 100 are hinged together. Two adjacent wall operation components 110 in the first direction are staggered and at least partially overlap in the second direction. The first direction and the second direction are parallel and perpendicular to the movement direction of the wall operation module 010, respectively.

[0091] The magnetic adsorption assembly includes multiple magnetic adsorption casters 120, which are located on the side of the wall working module 010 facing the working wall 002 and are used to adsorb onto the working wall 002.

[0092] The first direction parallel to the movement direction of the wall operation module 001 is specifically defined as the Z direction, and the second direction perpendicular to the movement direction of the wall operation module 001 is specifically defined as the X direction.

[0093] In the wall-mounted work device shown in Figure 1, the wall-mounted work module 001 has a wall-mounted work module 010. A traction mechanism pulls the wall-mounted work module 010 to move vertically along the work wall 002, and the wall-mounted work module 010 performs work on the work wall 002. The wall-mounted work module 010 in this device is moved by the traction mechanism, enabling rapid and stable movement of the wall-mounted work module 001. When reciprocating or working over a large area is required, the traction mechanism pulling the wall-mounted work module 001, compared to the method used by the magnetic adsorption wall-climbing robot to push the wall-mounted work module 001, greatly improves work stability and efficiency.

[0094] The traction mechanism for pulling the wall operation module 001 eliminates the positional coupling error inherent in multi-axis linkage, thus improving positioning accuracy. Furthermore, this traction method allows the driving force to be directly applied to the center-of-gravity projection area of ​​the wall operation module 001. When pulling the ultra-wide wall operation module 001, the wind load resistance on the vertical wall is improved, enabling the wall operation module 001 to move at a constant speed without interruption on the working wall surface 002. This, in turn, improves the stability and efficiency of the wall operation device when performing large-scale operations on curved surfaces.

[0095] In some embodiments of this application, the wall operation module 001 includes a plurality of wall operation modules 010, which are arranged at intervals along a first direction or a second direction, and adjacent wall operation modules 010 are connected by a suspension connector 011.

[0096] In the wall operation device shown in Figure 2, the wall operation module 001 has two wall operation modules 010. The traction mechanism pulls the two wall operation modules 010 to move synchronously along the working wall 002, and the two wall operation modules 010 simultaneously perform operations on the working wall 002.

[0097] For example, as shown in Figures 3 and 4, two wall operation modules 010 are arranged vertically along the Z direction. The bottom center of the upper wall operation module 010 is connected to the top center of the lower wall operation module 010 via a suspension connector 011. Each wall operation module 010 has two wall operation units 100, and the two wall operation units 100 of each wall operation module 010 are also arranged along the Z direction. Each wall operation unit 100 has multiple wall operation components 110, and the multiple wall operation components 110 in each wall operation unit 100 are arranged at intervals along the X direction.

[0098] In the embodiments shown in Figures 6 and 7, the wall operation module 001 also has two wall operation modules 010, which are arranged horizontally along the X direction. The right end of the left wall operation module 010 is connected to the left end of the right wall operation module 010 via a suspension connector 011. Each of the two wall operation modules 010 has two wall operation units 100, and the two wall operation units 100 of each wall operation module 010 are also arranged along the Z direction. Each wall operation unit 100 has multiple wall operation components 110, and the multiple wall operation components 110 in each wall operation unit 100 are arranged at intervals along the X direction.

[0099] It is understood that the wall operation module 001 listed in the above embodiments, which includes one or two wall operation modules 010, are only some embodiments. In other embodiments, the wall operation module 001 may also include more wall operation modules 010, such as three or four. For example, when the wall operation module 001 includes three wall operation modules 010, the three wall operation modules 010 are arranged sequentially along the Z direction or sequentially along the X direction. The number of wall operation units 100 in each wall operation module 010 can be two, three, four, or more. Furthermore, the number of wall operation components 110 in each wall operation unit 100 of the wall operation module 010 can be multiple; in addition, the number of wall operation components 110 in one wall operation unit of the wall operation module 010 is also one (as shown in Figure 18), while the number of wall operation components 110 in another wall operation unit 100 is multiple.

[0100] In one specific embodiment, each wall operation module 010 may have two rows of wall operation units 100; wherein the first row of wall operation units 100 has two wall operation components 110, and the second row of wall operation units 100 adjacent to the first row of wall operation units 100 has three wall operation components 110; in addition to the above, the first row of wall operation units 100 may also have three wall operation components 110, and the second row of wall operation units 100 adjacent to the first row of wall operation units 100 may also have four wall operation components 110.

[0101] For example, the working wall surface 002 is the wall surface of a wind turbine tower. The wall surface working module 001 can be used to perform operations on the wind turbine tower wall surface. Specifically, the working object can be an upright tower or a horizontal tower. When the working wall surface 002 is the wall surface of an upright tower, the wall surface working module 001 moves vertically along the wall surface of the upright tower; and when the working wall surface 002 is the wall surface of a horizontal tower, the wall surface working module 001 moves horizontally along the wall surface of the horizontal tower. For example, when performing operations on an upright tower, the first direction refers to the height direction of the upright tower, while when performing operations on a horizontal tower, the first direction refers to the horizontal direction of the horizontal tower. It can be understood that an upright tower and a horizontal tower are two different states of a wind turbine tower. An upright tower refers to a wind turbine tower installed perpendicular to the ground, and the wind turbine tower in this state is generally in the working state; a horizontal tower refers to a wind turbine tower placed horizontally on the ground or on a transport support, and the tower in this state is in the factory manufacturing, transportation, and pre-assembly stage. In addition, the wall operation module 001 can specifically perform surface inspection, rust removal, cleaning and anti-corrosion maintenance on the wind turbine tower wall; for example, when the wall operation module 001 performs cleaning operations on the wind turbine tower wall, the wall operation module 001 can specifically be a device used to clean or wash the working wall 002.

[0102] In the above embodiments, the wall operation module 001 forms an overlapping operation matrix or an ultra-wide operation matrix based on multiple wall operation modules 010, increasing the operation area per stroke. In scenarios involving large-area operations or requiring multiple reciprocating operations, the single operation area can be increased by expanding the number of wall operation modules 010, wall operation units 100, and wall operation components 110, significantly reducing the number of reciprocating movements of the operation device and further improving operation efficiency. Examples of scenarios requiring multiple reciprocating operations include the cleaning of heavy oil stains on the walls of wind turbine towers.

[0103] In each wall operation unit 100, adjacent wall operation components 110 are hinged together, and the magnetic adsorption universal wheel 120 on the wall-facing side of the wall operation module 010 is adsorbed onto the operation wall 002. Based on the combination of the chain-like degrees of freedom between the wall operation components 110 and the adsorption capacity of the magnetic adsorption universal wheel 120, each wall operation component 110 can be stably attached to the curved wall surface, thereby not only improving the obstacle-crossing ability of the wall operation module 001, but also improving the operation capability of the wall operation module 001.

[0104] Furthermore, the adjacent working components of two adjacent rows of wall working units 100 are arranged alternately and staggered in the first direction, and the adjacent wall working components 110 of two adjacent rows of wall working units 100 at least partially overlap in the second direction. This structure, by setting the adjacent wall working components 110 of two adjacent rows of wall working units 100 to be staggered, allows the rear row of wall working units 100 to cover the working gaps of the front row of wall working units 100 when performing large-scale work on curved walls, forming a continuous working zone without omissions. This eliminates missed work areas caused by the spacing of a single row of wall working units 100, thereby further improving work efficiency.

[0105] In some embodiments, the magnetic caster wheel 120 is located on the outside of the wall working assembly 110, and each of the wall working assemblies 110 is provided with magnetic caster wheels 120 on opposite sides.

[0106] The magnetic adsorption casters 120 are located on the outside of the wall working assembly 110, which greatly improves the stability of the wall working assembly 110 against tipping. Furthermore, the magnetic adsorption casters 120 are provided on both sides of the wall working assembly 110, which achieves a balance of adsorption forces on both sides of the wall working assembly 110, preventing the phenomenon of one side of the wall working assembly 110 tilting upward, and allowing the wall working assembly 110 to fit well with the working wall surface 002.

[0107] Furthermore, each of the wall operation units 100 shares a magnetic caster wheel 120 between two adjacent wall operation components 110. Specifically, the magnetic caster wheel 120 may be located in the gap between two adjacent wall operation components 110.

[0108] In the above embodiments, since the wall operation components 110 in the adjacent two rows of wall operation units 100 in each wall operation module 010 are staggered and overlapped, any three adjacent magnetic adsorption casters 120 in the adjacent two rows of wall operation units 100 in each wall operation module 010 are arranged in a triangle. This structure automatically forms a minimum restraint balance system on any curved surface based on the principle of three points determining a unique plane, thereby ensuring the uniformity of the adsorption force distribution on variable curvature walls such as the conical section of a wind turbine tower, and eliminating the risk of local desorption caused by uneven force on the support points.

[0109] For example, the wall working assembly 110 includes a mounting frame 111 and a cleaning disc brush 112. The cleaning disc brush 112 is located on the side of the mounting frame 111 facing the working wall surface 002. The cleaning disc brush 112 includes a disc brush base and a brush body. The disc brush base is connected to the mounting frame 111, and the brush body is connected to the disc brush base.

[0110] In this embodiment, the wall operation component 110 is specifically a cleaning component, as shown in FIG10. The cleaning component specifically includes a cleaning disc brush 112 and a fixing frame 111. The fixing frame 111 is used to support the cleaning disc brush 112. In addition, the magnetic adsorption universal wheel 120 can be fixed on the fixing frame 111, or the hinge between the wall operation components 110 can be fixed on the corresponding fixing frame 111.

[0111] In addition, the brush body of the cleaning disc brush 112 gradually expands outward from the fixing frame 111 to the wall surface in a direction perpendicular to the wall surface; in this embodiment, the brush body is generally truncated cone-shaped, which makes the brush body have a large contact area with the wall surface, thereby improving the cleaning efficiency of the wall surface.

[0112] The wall cleaning component 110 listed in the above embodiments is a cleaning component, which can be used to clean the wall surface of the wind turbine tower. It is understood that limiting the wall cleaning component 110 to a cleaning component is only one implementation method and does not constitute a limitation on the type of the wall cleaning component 110 of this application.

[0113] Furthermore, the wall-working assembly 110 includes a drive component 113, which is mounted on the fixed frame 111. The output shaft of the drive component 113 is connected to the cleaning disc brush 112, and the axis of the output shaft of the drive component 113 is perpendicular to the working wall surface 002. As shown in FIG10, the fixed frame 111 also supports the drive component 113, and the drive component 113 and the cleaning disc brush 112 are located on opposite sides of the fixed frame 111. The axis of the output shaft of the drive component 113 is perpendicular to the working wall surface 002, so the drive component 113 drives the cleaning disc brush 112 to rotate about an axis perpendicular to the working wall surface 002. The drive component 113 may specifically include a motor and a reducer.

[0114] In some embodiments, the wall working module 010 includes a nozzle 131 and a nozzle bracket 133. The nozzle bracket 133 is connected to the fixing frame 111. The nozzle 131 is disposed on the nozzle bracket 133. The nozzle 131 is located on the side of the wall working module 010 away from the ground and is used to spray liquid toward the working wall 002.

[0115] During the specific operation of the wall operation module 001, the nozzle 131 is always located above the gravity of the wall operation module 010. When the wall operation module 001 moves along the Z direction, the nozzle 131 is located at the top of the wall operation module 001 in the Z direction; and when the wall operation module 001 moves along the X direction, the nozzle 131 is also specifically located at the top of the wall operation module 001 in the Z direction.

[0116] In the above embodiments, the liquid sprayed by nozzle 131 can be paint, rinsing fluid, or water. For example, in the scenario of cleaning the wall of a wind turbine tower, the liquid sprayed by nozzle 131 can specifically be water or cleaning fluid. In this case, the position of nozzle 131 is limited to the upper part of the gravity direction of the wall operation module 010, so that the cleaning fluid (such as water or detergent) will flow downward naturally after being sprayed from nozzle 131. When nozzle 1311 is located at the top, the sprayed cleaning fluid can evenly wet and cover the entire working area cleaned by the wall operation module 001 along with gravity, thereby improving the utilization rate of cleaning fluid and cleaning efficiency.

[0117] Additionally, when the liquid sprayed by nozzle 131 is water, the wall cleaning module 010 may also include a water tank. In this case, the water tank may be located at the bottom end of the wind turbine tower, and the pipeline connects the nozzle 131 and the water tank. In this embodiment, when the wall cleaning module 001 cleans the working wall 002, the liquid in the water tank is sprayed onto the working wall 002 by the nozzle 131 on the wall cleaning module 010 to rinse the working wall 002.

[0118] In some embodiments, the number of wall work components 110 in two adjacent wall work units 100 differs by one, and adjacent wall work components 110 in each wall work unit 100 are hinged together by a hinge 140. This embodiment further reduces the risk of missed work areas by limiting the arrangement and number of wall work components 110 in two adjacent rows of wall work units.

[0119] Referring to Figure 8, the wall operation module 010 specifically consists of two wall operation units 100, with the first row of wall operation units including four wall operation components 110 and the second row including five wall operation components 110. In this embodiment, the adjacent wall operation components 110 of the first and second rows of wall operation units are arranged alternately and staggered, and the adjacent wall operation components 110 of the first and second rows of wall operation units partially overlap along a second direction; the second direction specifically refers to the length direction of the wall operation module 010 shown in Figure 8. Specifically, in this embodiment, any one of the wall-working components 110 of the upper wall-working unit 100 is located between two corresponding wall-working components 110 of the lower wall-working unit 100. Furthermore, when the wall-working module 010 moves along the first direction (the vertical direction in FIG. 8), the working areas of the wall-working components 110 of the upper wall-working unit 100 and the adjacent wall-working components 110 of the lower wall-working unit 100 partially overlap. Thus, the upper and lower wall-working units 100 are configured as a wall... The staggered structure of the surface operation components 110 can form a continuous operation zone without omissions, eliminating the missed operation areas caused by the spacing of the single row of wall operation units 100. 100% surface coverage can be achieved in a single pass, thereby improving operation efficiency. At the same time, by setting multiple wall operation components 110, the wall operation unit 100 of this application widens the single operation range of the wall operation module 001, reduces the number of reciprocating movements of the wall operation module 001, and improves the operation efficiency of large-scale operations on the working wall 002.

[0120] In the above embodiments, the adjacent two wall operation components 110 of each row of wall operation units 100 are hinged together. By increasing the number of wall operation components 110 of each row of wall operation units 100, the wall operation module 010 can be expanded laterally. Since the two adjacent wall operation modules 010 are connected by a suspension connector 011, by increasing the number of wall operation modules 010, the wall operation module 001 can be expanded longitudinally (as shown in Figures 3 and 4) and laterally (as shown in Figures 6 and 7). Based on the lateral or longitudinal expansion, the working range corresponding to a single movement of the wall operation module 001 can be increased. For large-area operations and scenarios that require multiple reciprocating operations, such as heavy oil stain cleaning, the number of reciprocating movements can be reduced, thereby improving work efficiency.

[0121] In some embodiments, when a plurality of the wall operation modules 010 are arranged at intervals along the second direction, two adjacent wall operation modules 010 are 180 degrees apart, and the adjacent wall operation components 110 of two adjacent wall operation modules 010 are connected by a suspension connector 011.

[0122] In this embodiment, the two wall operation modules 010 are arranged in opposite directions; that is, the two adjacent wall operation modules 010 are 180 degrees apart. As shown in FIG7, the wall operation module 001 has two wall operation modules 010, and each wall operation module 010 has two rows of wall operation units 100. The number of wall operation components 110 in the two rows of wall operation units 100 in each wall operation module 010 is four or five respectively. Furthermore, the ends of the wall operation units 100 of the wall operation components 110 in the left wall operation module 010, which have a larger number of wall operation units 100, are hinged to the ends of the wall operation components 110 of the right wall operation module 010, which have a smaller number of wall operation units 100. This hinged connection between the ends of the wall operation components 110 of the left wall operation module 010 and the wall operation units 100 of the right wall operation module 010, in order to achieve the hinged connection between the two adjacent wall operation components 110 of the two wall operation modules 010 in the second direction.

[0123] In the above embodiment, in order to prevent the hinges 140 between the wall operation components 110 from being damaged due to the gravity of the wall operation components 110, a support rod (not shown) is provided between the adjacent wall operation units 100 in the first direction of the two adjacent rows of wall operation units 100. The support rod is inclined and its two ends are fixedly connected to the corresponding wall operation components 110. The inclination direction of the support rod is set to compensate for the axial force generated by the gravity of the wall operation components 110, so as to prevent the hinges 140 from being damaged due to the axial force, or to prevent the tilting phenomenon of the outermost wall operation components 110 caused by the superposition of axial forces due to gravity.

[0124] Specifically, the support rod and the wall working component 110 can be connected by hooks, that is, the wall working component 110 is provided with a hanging ring, and both ends of the support rod are hooks. In this case, the hooks at the ends of the support rod are in the hanging rings, which can not only prevent the wall working component 110 from tilting due to gravity, but also not restrict the adjustment of the distance between the wall working component 110 and the working wall 002.

[0125] In some embodiments, the wall operation module 010 includes a bellows cover 130, which is disposed on the side of the wall operation module 010 away from the working wall surface 002. The bellows cover 130 serves as a protective cover for the wall operation module 010, preventing dust and foreign objects from entering. In addition, the wall operation module 010 may also include a power supply 150, as shown in FIG. 5. The power supply 150 is disposed on the side of the bellows cover 130 away from the working wall surface 002, and is electrically connected to a drive component 113 for driving the cleaning disc brush 112 to rotate.

[0126] In some embodiments of this application, one end of the fixing frame 111 of the wall operation module 010 in the middle of the wall operation component 110 has a recess that faces inward toward the cleaning disc brush 112, and the other end has a protrusion that faces outward toward the cleaning disc brush 112.

[0127] As shown in Figure 4, the wall operation component 110 in the middle of the second row (lower row) wall operation unit 100 in each wall operation module 010 is the middle wall operation component 110 of the corresponding wall operation module 010. The fixing frame 111 of the middle wall operation component 110 serves as the middle connecting plate of the entire wall operation module 010, so two adjacent wall operation units 100 can be fixedly connected through the middle connecting plate. In this embodiment, the middle wall operation component 110 of the second row of wall operation units 100 of each wall operation module 010 is fixed on the middle connecting plate, and the two middle wall operation components 110 of the first row (upper row) wall operation units 100 of each wall operation module 010 are symmetrically arranged on both sides of the middle connecting plate, and the two middle wall operation components 110 of the first row of wall operation units 100 are hinged to the middle connecting plate through a hinge 140. It is understood that the structure of the fixing frame 111 listed in the above embodiments is only one implementation method. In other embodiments, the fixing frame 111 of the wall operation component 110 in the middle of the wall operation module 010 may also be a rectangular plate, a triangular plate, a circular plate, etc.

[0128] For example, as shown in Figures 4 and 10, the fixing frame 111 of the middle wall operation component 110 of the wall operation module 010 can be an "I"-shaped fixing frame. In this case, the two middle wall operation components 110 of the first row of wall operation units 100 of the wall operation module 010 are respectively set on both sides of the vertical arm of the "I"-shaped fixing frame. The "I"-shaped fixing frame specifically includes one vertical arm and two horizontal arms. The two horizontal arms are located at both ends of the vertical arm. At this time, the two ends of the vertical arm are respectively connected to the two horizontal arms. The middle wall operation component of the second row of wall operation units 100, as the middle wall operation component 110 of the entire wall operation module 010, is specifically fixed on the horizontal arm at the bottom of the "I"-shaped fixing frame. The two magnetic universal wheels 120 on both sides of the middle wall operation component 110 of the second row of wall operation units 100 are also set on the horizontal arm at the bottom of the "I"-shaped fixing frame.

[0129] When the fixing frame 111 is an "I"-shaped fixing frame, in order to connect the two wall operation modules 010, the middle connecting plates of the two wall operation modules 010 can be directly connected; at this time, the bottom horizontal arm of the middle connecting plate of the upper wall operation module 010 is connected to the top horizontal arm of the middle connecting plate of the lower wall operation module 010. Specifically, the middle connecting plates of the two wall operation modules 010 can be connected by the suspension connector 011.

[0130] For example, the suspension connector 011 can be a hook, ring, or rope, etc. In this embodiment, a hook, ring, or rope is used to connect two wall operation modules 010, allowing the two wall operation modules 010 to deflect independently on the working wall surface 002. This can automatically compensate for the curvature changes of the working wall surface 002, thus ensuring good contact between each wall operation module 010 and the working wall surface 002 when the wall operation module 001 is operating on the variable curvature working wall surface 002, and also ensuring that the wall operation module 001 maintains high obstacle-crossing performance. It is understood that the connection of two wall operation modules 010 based on hooks, rings, or ropes listed in this embodiment is only a few examples. In other embodiments, the suspension connector 011 can also be other types of connectors besides hooks, rings, and ropes.

[0131] In another embodiment, the fixing frame 111 of the wall operation component 110 can also be in the shape of a "I". In this case, the "I" shaped fixing frame can be located in the middle of the cleaning disc brush 112, and the "I" shaped fixing frames of two adjacent wall operation components 110 of each row of wall operation units 100 are hinged together by a hinge 140. In addition, the magnetic adsorption casters 120 on both sides of each wall operation component 110 can also be set on the "I" shaped fixing frame.

[0132] In another embodiment, the fixing frame 111 can also be a "T"-shaped fixing frame, and the magnetic caster 120 is disposed at the end of the wing plate and the end of the web plate of the "T"-shaped fixing frame. The "T"-shaped fixing frame includes at least one horizontal arm and one vertical arm. In this case, the horizontal arm can also be called a wing plate, and the vertical arm can also be called a web plate. One end of the web plate is fixedly connected to the middle of the wing plate. In this embodiment, the space on both sides of the web plate can be understood as two concave portions, and the two ends of the wing plate can be understood as two convex portions. Similarly, if the number of magnetic casters 120 is three, then two of the magnetic casters 120 are respectively disposed at the two ends of the wing plate of the "T"-shaped fixing frame, while the other magnetic caster 120 is specifically disposed at the end of the web plate of the "T"-shaped fixing frame that is not connected to the wing plate.

[0133] It is understood that the shapes of the fixing frame 111 listed in the above embodiments are only some embodiments. In other embodiments, the specific shape of the fixing frame 111 of the wall operation assembly 110 can be set according to actual needs.

[0134] In the above embodiments, a hinge 140 is provided between any two adjacent wall operation components 110 of each row of wall operation units 100, and combined with a magnetic adsorption component, so that when the wall operation module 001 operates on uneven or continuously changing curved surfaces, the hinge 140 allows adjacent wall operation components 110 to independently adjust their pitch angle, which greatly improves the passive adaptability of the entire wall operation module 001 to complex curved surfaces; it can not only ensure that each magnetic adsorption universal wheel 120 can closely fit the local wall surface, maximize the adsorption force and traction force, and prevent slippage or detachment, but also ensure that each wall operation component 110 can follow the contour of the local curved surface, maintain a constant and optimal working distance and pressure, and avoid incomplete cleaning due to excessive distance or damage to the wall surface or equipment due to excessive pressure. In addition, the wall operation module 001 is based on the combination of hinge 140 and magnetic universal wheel 120, so that when some wall operation components 110 encounter obstacles and are lifted, the other wall operation components 110 can maintain contact with the wall through the rotation of hinge 140, and can ensure better adsorption force.

[0135] In summary, the wall cleaning module 001 of this application combines the hinge 140 between the wall cleaning components 110 with the magnetic adsorption caster 120 for adhesion, achieving close contact and self-adjustment of the wall cleaning module 001 to complex curved surfaces, while ensuring stable adsorption and flexible movement of multiple casters. This significantly improves the cleaning performance, movement capability, stability, reliability, and maintenance convenience of the wall cleaning module 001 in harsh curved surface environments.

[0136] In some embodiments, the traction mechanism includes a power end and a traction rope 032, wherein the power end includes a winch or a rope climber 031. The power end is used to provide power for the movement of the wall-working module 001, and the traction rope 032 is used for traction guidance.

[0137] For example, when the power end includes a rope climbing machine 031, the rope climbing machine 031 is fixed to the side of the wall working module 001 away from the working wall surface 002, and the traction rope 032 is fixed to the anchor point. Taking tower erection as an example, the anchor point can specifically be located at the top of the working wall surface 002, which can be a bracket fixed to the top of the working wall surface 002. In this embodiment, referring to FIG9, the rope climbing machine 031 is fixed to the side of the wall working module 010 away from the working wall surface 002, and the rope climbing machine 031 is located in the middle of the wall working module 010. The rope climbing machine 031 and the wall working module 010 can be connected by bolts or screws. In addition, the traction mechanism can also include a rope support 160. In this case, the rope support 160 is fixed to the top of the working wall surface 002, and the anchor point is specifically located on the rope support 160. This embodiment uses the method of fixing the rope and moving the power end to realize the traction movement of the wall working module 001.

[0138] In some other embodiments, the power source can also be a winch, which is fixed to the anchor point, and the traction rope 032 is supported on the fixed pulley 033 with its end connected to the wall operation module 010. In this embodiment, the wall operation module 001 is moved by fixing the power source and moving the traction rope 032. For example, as shown in FIG5, the wall operation module 001 can also include a rope support 160, which is located on the side of the wall operation module 001 away from the working wall 002, and is used to fix one end of the traction rope 032. In this embodiment, the winch can be fixed to the top of the working wall 002, or the winch can be fixed to the ground. When the winch is fixed to the ground, a fixed pulley 033 is also provided at the top of the working wall 002. The fixed pulley 033 is located at the top of the working wall 002. At this time, the traction rope 032 passes around the fixed pulley 033, and the two ends of the traction rope 032 are fixedly connected to the winch and the rope bracket 160 on the wall working module 001, respectively.

[0139] It is understood that the "top of the working wall 002" mentioned in the above embodiments refers to the tower shown in Figures 1 and 2 as an example, that is, the power end pulls the wall working module 001 to move vertically along the outer wall of the tower; while when the working wall 002 is a horizontal tower, since the wall working module 001 moves in the horizontal direction under the traction of the power end, the fixed pulley 033, anchor point, etc. can be located at the left or right end of the working wall 002.

[0140] In the above embodiment, a rope support 160 is provided on the side of the wall operation module 001 away from the working wall surface 002. The rope support 160 extends from the middle connecting plate of the wall operation module 010 toward the direction away from the working wall surface 002, and the rope is further fixed to the end of the rope support 160 away from the working wall surface 002. This structure makes the rope between the fixed pulley 033 and the rope support 160 nearly vertical, so that the traction force is nearly parallel to the working wall surface 002. This arrangement makes the rope mainly bear axial tension, with less friction with the wall surface and controllable direction. Furthermore, when the wall operation module 001 moves vertically based on the traction mechanism, it avoids generating harmful horizontal components, reduces adsorption burden and motion resistance, and reduces the risk of rope failure.

[0141] In some embodiments, the wall-mounted working device further includes a wastewater recovery module, which includes a flow guiding component 410 and a support mechanism 420. The flow guiding component 410 is arranged on one side of the working wall 002, and has a flow guiding channel 411. The side of the flow guiding channel 411 closest to the working wall 002 is in contact with the working wall 002, and the projection of the flow guiding channel 411 on the working wall 002 intersects with the direction of wastewater flow. The flow guiding channel 411 has an outlet end. One end of the support mechanism 420 is fixed to a support base, and the other end is connected to the side of the flow guiding channel 411 away from the working wall 002.

[0142] The flow guiding component 410 is provided with a flow guiding channel 411, and the side of the flow guiding channel 411 close to the working wall surface 002 is in contact with the working wall surface 002, while the side of the flow guiding channel 411 away from the working wall surface 002 is connected to the support mechanism 420. The flow guiding channel 411 intersects with the sewage flow direction on the working wall surface 002. The flow guiding channel 411 of this sewage recovery module acts as a "gate" or "scraper" on the sewage flow path, directly and forcibly intercepting the flowing sewage and guiding it into the channel, thereby improving the sewage collection efficiency.

[0143] Wastewater on the working wall 002 is confined to the diversion channel 411, preventing it from splashing everywhere and thus improving the working environment. The wastewater within the diversion channel 411 is guided along a preset direction through the outlet to a designated collection point or drain, facilitating effective wastewater collection. Furthermore, by adjusting the width and depth of the diversion channel 411, different wastewater flow rates can be accommodated, making this wastewater recovery module suitable for various working scenarios.

[0144] For example, the diversion channel 411 is inclined from top to bottom along the direction of sewage flow. In this example, by setting the diversion channel 411 as an inclined structure from top to bottom, the sewage and solid particles carried in the diversion channel 411 will receive an acceleration along the channel direction, significantly increasing the flow velocity and generating a strong scouring force, making it difficult for solids to settle, thereby greatly reducing the possibility of blockage inside the diversion channel 411. Furthermore, the inclined diversion channel 411 has enhanced drainage capacity, enabling it to drain intercepted sewage more quickly and reducing the risk of sewage overflowing from the channel opening due to insufficient drainage, thereby indirectly improving the reliability and efficiency of collection.

[0145] Furthermore, the angle between the projection of the guide channel 411 onto the working wall surface 002 and the direction of sewage flow ranges from 20 degrees to 70 degrees. In this embodiment, setting the inclination angle of the guide channel 411 relative to the direction of sewage flow between 20 and 70 degrees not only allows the sewage to maintain a good flow velocity and flow pattern but also balances the scouring force and drainage efficiency of the sewage. Optionally, the angle between the projection of the guide channel 411 onto the working wall surface 002 and the direction of sewage flow can be 45 degrees. In this case, the guide channel 411, based on the flow of sewage, can not only effectively utilize gravity to achieve self-cleaning but also has lower wear from solid particles in the sewage and higher sewage collection efficiency.

[0146] In some embodiments of this application, the support mechanism 420 includes a fixed base 421, a connecting rod 422, and a fixing clamp 423. The fixed base 421 is fixed to the support base surface, the fixing clamp 423 is connected to the side of the guide channel 411 away from the working wall surface 002, and the two ends of the connecting rod 422 are respectively connected to the fixed base 421 and the fixing clamp 423.

[0147] The aforementioned supporting base surface can be the working wall surface 002, the ground, or other supporting surfaces of fixed bases. Correspondingly, the fixed base 421 can be connected to the supporting base surface by means of adhesive, magnetic attraction, screw fixing, etc. The shape of the fixed base 421 is not specifically limited; it serves to fix to the working base surface so that the guide channel 411 has better stability under the support of the supporting mechanism 420.

[0148] As shown in Figures 11, 12, 13 and 14, the support mechanism 420 can be set above the flow guiding component 410. At this time, the fixed seat 421 is specifically fixedly connected to the working wall surface 002, the end of the connecting rod 422 close to the working wall surface 002 is fixedly connected to the fixed seat 421, and the end of the connecting rod 422 away from the working wall surface 002 is connected to the fixing clamp 423. The fixing clamp 423 is clamped and connected to the side of the flow guiding component 410 away from the working wall surface 002.

[0149] It is understandable that placing the support mechanism 420 above the flow guide component 410 is only one example. In other embodiments, the support mechanism 420 may also be placed below the flow guide component 410. Furthermore, in addition to being composed of the fixing base 421, connecting rod 422, and fixing clamp 423, the support mechanism 420 may also be composed of other types of components. For example, the support mechanism 420 may include a support frame, specifically a triangular support structure, located below the flow guide component 410. In this case, one end of the support frame is connected to the support base surface, while the other end is connected to the flow guide component 410. That is, the support frame supports the flow guide component 410 on the support base surface. The support frame may also be further provided with fixing parts or clamping parts for maintaining the posture of the flow guide component 410.

[0150] In some embodiments of this application, the supporting base is the wall of a wind turbine tower, the fixing seat 421 is a magnetic seat, the magnetic seat is used to adhere to the wall of the wind turbine tower, and the connecting rod 422 and the fixing clamp 423 are connected by a hook.

[0151] As shown in Figures 13 and 14, the end of the connecting rod 422 near the fixing clamp 423 may have a hook, while the fixing clamp 423 has a hanging ring. The connecting rod 422 and the fixing clamp 423 can be connected via the hook and hanging ring. Since the wind turbine tower wall is curved, one side of the guide channel 411 is in contact with the wind turbine tower wall, while the other side of the guide channel 411 is held by the fixing clamp 423 of the support mechanism 420. That is, the connecting rod 422 and the fixing clamp 423 are connected in a non-rigid manner, which can accommodate minor installation errors, thus allowing for a certain amount of displacement between the fixing seat 421 and the fixing clamp 423.

[0152] In addition, the support mechanism 420 is attached to the wind turbine tower wall by a magnetic base, which not only improves the ease of installation of the wastewater recovery module, but also enables the rapid installation and disassembly of the wastewater recovery module.

[0153] For example, the fixing clip 423 may include a clip body and an adjusting screw. The clip body is a U-shaped plate structure, and the clip body is provided with a threaded hole. The screw is located in the threaded hole, and the two ends of the screw are located in the U-shaped groove of the U-shaped plate structure and outside the clip body, respectively. At this time, the clamped object is located in the U-shaped groove, specifically between the end of the screw and the side wall of the U-shaped plate structure. The clamping force can be adjusted by rotating the screw. Furthermore, by adjusting the screw, it can also be used to clamp guide components 410 of different thicknesses.

[0154] Understandably, the connection between the connecting rod 422 and the fixing clamp 423 via a hook, as listed above, is only one possible method. In addition, the connecting rod 422 and the fixing clamp 423 can also be connected in other ways, such as bonding or threaded connection. If a threaded connection is used, both the fixing block and the fixing clamp 423 can be provided with threaded holes, and both ends of the connecting rod 422 can be provided with external threads that mate with the threaded holes. In this case, the two ends of the connecting rod 422 can be threadedly connected to the fixing block and the fixing clamp 423 respectively.

[0155] Additionally, the fixing clip 423 can be a clamp clip, a screw clip, or a spring clip. The function of the fixing clip 423 is to hold the flow guiding component 410 so that the flow guiding component 410 remains stable under the support of the support mechanism 420. Therefore, the type of fixing clip 423 is not specifically limited.

[0156] In some embodiments of this application, the flow guiding component 410 is arranged spirally upward along the axial direction of the wind turbine tower on the outer wall or inner wall of the wind turbine tower, and the material of the flow guiding component 410 is a flexible waterproof sheet.

[0157] As shown in Figure 11, when the working wall surface 002 is the outer wall surface of the wind turbine tower, the flow guiding component 410 is arranged on the outer wall surface of the wind turbine tower. Similarly, when the working wall surface 002 is the inner wall surface of the wind turbine tower, the flow guiding component 410 is arranged on the inner wall surface of the wind turbine tower.

[0158] The flow guide component 410, located on the outer wall of the wind turbine tower, spirals upwards from bottom to top, and the flow guide channel 411 on the flow guide component 410 also spirals upwards from bottom to top. When cleaning the wind turbine tower, the wastewater flowing downwards along the tower wall is collected in the flow guide channel 411 of the flow guide component 410, and the wastewater is gradually discharged from the outlet end along the flow guide channel 411, thus facilitating efficient wastewater collection. In this embodiment, the outlet end can specifically be the lowest point of the flow guide channel 411, meaning that the wastewater in the flow guide channel 411 is further discharged from its bottom outlet end into a wastewater tank or other collection device.

[0159] The spiral-shaped guide channel 411 significantly extends the path of sewage from the inflow point of the guide component 410 to the bottom outlet. Due to the inclination of the spiral guide channel 411 itself, the sewage flows smoothly downwards within the channel under gravity, preventing splashing when high-speed water impacts the sewage outlet. Furthermore, the spiral-shaped guide component 410 can be stably fixed to the working wall 002 with relatively few support mechanisms 420, simplifying installation, reducing costs, and providing better overall rigidity and stability.

[0160] Furthermore, the flow guiding component 410 has at least one spiral turn. This single-turn or more spiral structure forms a closed collection ring around the working wall 002, ensuring that any wastewater flowing down the wind turbine tower wall will eventually be intercepted by the spiral flow guiding channel 411, thus achieving 360° all-round collection of wastewater from the wind turbine tower wall without any dead angles.

[0161] The flow guiding component 410 is made of a flexible waterproof sheet material with a certain degree of flexibility, which allows it to adapt to wall surfaces with varying diameters from top to bottom. On the curved working wall surface 002, the flexible flow guiding component 410 can fit well with the working wall surface 002, thereby ensuring a good sewage collection effect.

[0162] In some embodiments, the flexible waterproof sheet is a waterproof cloth, and the side of the waterproof cloth near the working wall surface 002 is attached to the working wall surface 002 by adhesive or magnetic attraction. The side of the waterproof cloth away from the working wall surface 002 is connected to the fixing clip 423 of the support mechanism 420, and a guide groove 411 is formed between the side of the waterproof cloth away from the working wall surface 002 and the side near the working wall surface 002.

[0163] For example, the waterproof fabric can be rectangular. When the rectangular waterproof fabric is folded into a U-shape, the U-shaped groove of the U-shaped waterproof fabric serves as the specific flow guide trough 411. To ensure good flow guidance and stability of the U-shaped groove, as shown in Figure 11, one sidewall of the U-shaped waterproof fabric is completely fitted to the working wall surface 002, while the other sidewall of the U-shaped waterproof fabric is fixedly connected to the fixing clip 423 of the support mechanism 420. It is understood that the use of waterproof fabric as the flow guide component 410 in this embodiment is only an example. In other embodiments, the flow guide component 410 can also be other flexible waterproof sheets besides waterproof fabric.

[0164] The sheet-like waterproof material used can be a material that can maintain a specific posture, such as PVC waterproof membrane. In addition, when the fixing clamp 423 clamps the side of the flow guide 410 away from the working wall surface 002, in order to prevent the clamped side of the flow guide 410 from sagging, the length of the connecting rod 422 can be further set to be greater than or equal to the width of the flow guide groove 411.

[0165] Furthermore, when the waterproof fabric is bonded to the working wall surface 002, the waterproof fabric and the working wall surface 002 are bonded together using waterproof tape. In this embodiment, a portion of the waterproof tape is bonded to the working wall surface 002, and another portion is bonded to the waterproof fabric to seal the gap between the waterproof fabric and the working wall surface 002. For example, the waterproof tape can be a transparent PET tape.

[0166] In the above embodiment, the waterproof cloth and the working wall surface 002 are connected by transparent tape, with one part of the transparent tape adhering to the working wall surface 002 and the other part adhering to the waterproof cloth, so that the transparent tape forms a continuous sealing ring. This not only seals the gap between the waterproof cloth and the working wall surface 002, but also, when these flexible waterproof tapes are pasted on slightly undulating or slightly rough curved surfaces, the tapes can deform and fill these uneven areas, thereby ensuring the adhesion between the waterproof cloth and the working wall surface 002 with different curvatures, and thus ensuring the sealing between the waterproof cloth and the uneven curved working wall surface 002, thereby improving the sewage collection efficiency.

[0167] In other embodiments, the waterproof cloth may also be bonded to the working wall surface 002 using adhesive materials other than sealing tape.

[0168] In addition, when the waterproof cloth is magnetically attached to the working wall surface 002, the magnet can be sewn or glued to the waterproof cloth first. At the work site, one side of the waterproof cloth is first attracted to the working wall surface 002 by the magnet on the waterproof cloth. Then, the magnetic seat of the support mechanism 420 is attracted to the working wall surface 002, and the fixing clip 423 of the support mechanism 420 is clamped and fixed to the other side of the waterproof cloth. This forms a guide groove 411 between the side of the waterproof cloth that is attached to the working wall surface 002 and the side that is clamped by the fixing clip 423.

[0169] In other embodiments, the outlet end of the guide channel 411 may also have a constriction portion 412, which is used to guide the sewage in the guide channel 411 to the outside. The constriction portion 412 reduces the cross-sectional area of ​​the outlet end, increases the outlet velocity of the water flow, and prevents the sewage from spreading to both sides due to inertia near the outlet end.

[0170] For example, the shape of the constriction portion 412 can be rectangular, trapezoidal, etc., as shown in Figure 14. When the shape of the constriction portion 412 is rectangular, the cross-sectional area of ​​the constriction portion 412 can be half of the cross-sectional area of ​​the guide groove 411.

[0171] Additionally, as shown in Figure 11, there can be multiple support mechanisms 420, which are spaced apart along the extension direction of the guide channel 411. Specifically, the extension direction of the guide channel 411 can be the direction perpendicular to its cross-section. For example, if the guide channel 411 is a spirally ascending guide channel 411, then the extension direction of the guide channel 411 is specifically a spirally ascending direction.

[0172] When the flow guiding component 410 is made of a flexible waterproof sheet (such as PVC board) that can maintain its posture, the spiral flow guiding component 410 can ensure stability by relying on its own wrapping ability and bonding or magnetic attraction between one side and the working wall surface 002. Therefore, the number of support mechanisms 420 can be reduced accordingly according to actual needs. For example, support mechanisms 420 can be set only at both ends of the flow guiding component 410. For the flow guiding component 410 made of materials such as waterproof cloth, since it cannot maintain its posture on its own, multiple support mechanisms 420 can be used to improve the stability of the flow guiding component 410.

[0173] The aforementioned wastewater recycling module adopts a modular design, which can be quickly installed and disassembled, making it very suitable for temporary wall operation scenarios (such as high-altitude curtain wall cleaning, building exterior wall repair, ship rust removal, wind turbine tower cleaning, etc.), thus improving work efficiency. Furthermore, the wastewater recycling module in the above embodiment can promptly recycle wastewater, keeping the working wall 002 and the ground below dry, thereby enhancing the safety of high-altitude or edge-prone operations.

[0174] Furthermore, a waterproof cloth is used as the flow guiding component 410, and the waterproof cloth is bonded to the working wall surface 002 with waterproof tape. The flexible waterproof cloth can adapt to the curvature changes of the curved surface and adaptively fit uneven areas, eliminating sewage leakage points caused by the mismatch between the flow guiding component 410 and the curved surface shape. Moreover, the waterproof cloth and the working wall surface 002 are bonded together with waterproof tape, forming a complete and uninterrupted sealing ring between the waterproof tape, the wall surface, and the waterproof cloth. This continuous sealing ring has good protection against leakage of flowing sewage, thereby improving the sewage collection efficiency of the wall working device.

[0175] In order to ensure the uniform and stable descent of the wall-working module 001, the wall-working device described in this application may further include a counterweight, which is specifically fixed to the lower middle part of the wall-working module 001. In this embodiment, with a counterweight below the wall-working module 001, the weight of the counterweight naturally pulls the wall-working module 001 downwards as it descends. At this time, the traction mechanism does not need to actively output power to drive the descent; instead, it only needs to control the speed of the released rope. Furthermore, the counterweight provides continuous downward tension, keeping the rope taut at all times. The traction mechanism can achieve a uniform and stable descent by precisely adjusting the release resistance.

[0176] According to another aspect of this application, a wall operation method is also provided, which is applied to the wall operation device described in any of the above embodiments; as shown in FIG15, the wall operation method includes at least the following steps:

[0177] Step S10: Determine the number and arrangement of the wall operation modules based on the oil stain level and operation range of the wall surface to be operated.

[0178] Step S20: Based on the determined number and arrangement of the wall operation modules, connect any two adjacent wall operation modules through a suspension connector to form a wall operation module.

[0179] Step S30: The traction mechanism pulls the wall operation module to move between the first operation point and the second operation point.

[0180] Step S40: The wall operation module performs operations on the wall between the first operation point and the second operation point.

[0181] In step S10 above, the oil stain level and working area of ​​the wall surface 002 to be worked on are first determined. Then, based on the oil stain level and working area, the optimal number of wall surface working modules 010 required for the work is determined, and their arrangement is planned. Oil stain levels include light oil stains, moderate oil stains, heavy oil stains, and extra-thick stubborn contamination, etc. Working areas include large-area work and small-area work, etc. The size of the working area can be determined according to the working area of ​​the wall surface 002; for example, a working wall surface 002 with a working area greater than a preset value is considered a large-area work, while a working wall surface 002 with a working area less than a preset value is considered a small-area work.

[0182] The arrangement can be either parallel or series. A series arrangement means that multiple wall operation modules 010 are arranged in a direction parallel to the moving direction of the wall operation module 001 (as shown in Figures 3, 4, and 5). A series arrangement can increase the working height of the wall operation device. A parallel arrangement means that multiple wall operation modules 010 are arranged in a direction perpendicular to the moving direction of the wall operation module 001 (as shown in Figures 6 and 7). A parallel arrangement can increase the working width of the wall operation device.

[0183] For example, when the working wall 002 is a large working surface with heavy oil stains and a large height dimension, two wall working modules 010 are arranged along the first direction to form a wall working module 001. When the working wall 002 is a large working surface with heavy oil stains and a large width dimension, two wall working modules 010 are arranged along the second direction to form a wall working module 001.

[0184] In step S20 above, multiple wall operation modules 010 are further combined into a wall operation module 001, and two adjacent wall operation modules 010 are connected by a suspension connector 011.

[0185] In steps S30 and S40 above, the traction mechanism further moves the wall operation module 001. The first operation point Q1 is the position of the wall operation module 001 before performing wall operations, i.e., the starting point of the operation path; the second operation point Q2 is the position of the wall operation module 001 after performing wall operations for a period of time. The wall operation module 001 can perform wall operations while moving between the first operation point Q1 and the second operation point Q2; for example, the type of operation performed by the wall operation module 001 is wall cleaning.

[0186] Taking the wall working device as an example of working on a vertical wall, refer to Figure 16. Figure 16(a) and (b) show two different working methods respectively.

[0187] As shown in Figure 16(a), in the vertical direction, the second working point Q2 is located on the side of the first working point Q1 away from the ground. In this working method, the wall working module 001 can be placed at the first working point Q1, and the traction mechanism pulls the wall working module 001 to move along the first direction Z from the first working point Q1 to the second working point Q2 to perform the work. The first direction Z is the opposite direction of the gravity direction of the wall working module 001.

[0188] As shown in Figure 16(b), in the vertical direction, the second work position Q2 is located on the side of the first work position Q1 closer to the ground. In this operation mode, the wall operation module 001 moves from the first work position Q1 to the second work position Q2 along the first direction Z under the traction of the traction mechanism and performs the operation. At this time, the first direction Z is the direction of gravity of the wall operation module 001.

[0189] Specifically, the first direction Z refers to the direction from the first working point Q1 to the second working point Q2, which can be the same as or opposite to the direction of gravity. If the first direction Z is the same as the direction of gravity, it can be said that the wall working module 001 performs work on the wall during the descent; if the first direction Z is opposite to the direction of gravity, it can be said that the wall working module 001 performs work on the wall during the ascent.

[0190] As shown in Figure 16, taking the wall operation module 001 performing wall operations in the vertical direction as an example, under the traction of the traction mechanism, the path direction between the first working point Q1 and the second working point Q2 of the wall operation module 001 is vertical. That is, the wall operation module 001 always performs wall operations on the path between the first working point Q1 and the second working point Q2. If operations are needed in other areas of the wall, the wall operation module 001 can be further moved to other working points.

[0191] As shown in Figure 17, in some other embodiments, the wall operation method may specifically include the following steps:

[0192] Step S10: Determine the number and arrangement of the wall operation modules based on the oil stain level and operation range of the wall surface to be operated.

[0193] Step S20: Based on the determined number and arrangement of the wall operation modules, connect any two adjacent wall operation modules through a suspension connector to form a wall operation module.

[0194] Step S30: The traction mechanism pulls the wall operation module to move between the first operation point and the second operation point.

[0195] Step S40: The wall operation module performs operations on the wall between the first operation point and the second operation point.

[0196] Step S50: Move the wall operation module to the third operation point;

[0197] Step S60: The traction mechanism pulls the wall working module between the third working point and the fourth working point;

[0198] Step S70: The wall operation module performs operations on the wall between the third operation point and the fourth operation point.

[0199] Steps S10 to S40 in this embodiment are the same as steps S10 to S40 in the above embodiments, and will not be described again here.

[0200] In step S50 above, the wall operation module 001 is moved from the second operation point Q2 to the third operation point Q3. The second operation point Q2 can be considered as the end point of the operation path corresponding to the first operation, while the third operation point Q3 refers to the starting point of the operation path corresponding to the second operation. In order to achieve full coverage of the operation wall 002, the operation area corresponding to the third operation point Q3 partially overlaps with the operation area of ​​the second operation point Q2 in the direction perpendicular to the operation path.

[0201] In the above embodiments, after completing the maintenance work between the first work point Q1 and the second work point Q2, the wall work module 001 needs to move to the third work point Q3. In one possible implementation, the wall work module 001 can be moved from the second work point Q2 to the third work point Q3 under the traction of a traction mechanism; alternatively, the wall work module 001 can also be moved from the second work point Q2 to the third work point Q3 manually.

[0202] For example, the wall-working module 001 can be controlled to move back to a working position closer to the ground. The wall-working module 001 can move from the second working position Q2 back to the first working position Q1; this process does not involve any work on the wall. The wall-working module 001 can be manually moved from the first working position Q1 to the third working position Q3, where the third working position Q3 is located on the side of the second working position Q2 that is closer to the ground in the vertical direction. By manually moving the position of the wall-working module 001, the deviation between the actual position of the wall-working module 001 and the third working position Q3 can be reduced, which helps improve work accuracy and achieve full coverage of wall-working operations.

[0203] In steps S60 and S70 above, the wall operation module 001 moves between the third operation point Q3 and the fourth operation point Q4 under the traction of the traction mechanism, and performs operations on the wall between the third operation point Q3 and the fourth operation point Q4.

[0204] In another embodiment, the wall operation method may further include the following steps: the wall operation module 001 rinses the wall between the first operation point Q1 and the second operation point Q2 in the opposite direction of the first direction Y; the wall operation module 001 rinses the wall between the first operation point Q3 and the second operation point Q4 in the opposite direction of the first direction Y.

[0205] For example, when the wall operation component 110 of the wall operation module 001 includes a cleaning disc brush 112, and the first direction Y is opposite to the direction of gravity of the wall operation module 001, the wall operation module 001 brushes the wall during the upward movement; for example, the cleaning disc brush 112 in the wall operation module 001 rotates against the working wall 002 to make it easier to remove dirt from the surface to be cleaned; the wall operation module 001 rinses the wall during the downward movement, for example, the nozzle 131 in the wall operation module 001 sprays high-pressure water onto the wall during the downward movement of the wall operation module 001 to rinse away the dirt remaining on the wall.

[0206] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

A wall-mounted work device, characterized in that, The wall-working device includes a traction mechanism and a wall-working module (001). The traction mechanism is used to traction the wall-working module (001) to move and work on the working wall (002). The wall-working module (001) includes at least one wall-working module (010), and the wall-working module (010) includes: At least two wall operation units (100) are arranged at intervals along a first direction, and adjacent wall operation units (100) are fixedly connected at the middle. At least one wall operation unit (100) includes a plurality of wall operation components (110), and the plurality of wall operation components (110) are arranged at intervals along a second direction. Adjacent wall operation components (110) in each wall operation unit (100) are hinged together. Adjacent wall operation components (110) in the first direction are staggered and at least partially overlap in the second direction. The first direction and the second direction are parallel and perpendicular to the movement direction of the wall operation module (001), respectively. The magnetic adsorption assembly includes multiple magnetic adsorption casters (120), which are located on the side of the wall working module (010) facing the working wall (002) and are used to adsorb onto the working wall (002). The wall working device according to claim 1 is characterized in that, The wall operation module (001) includes multiple wall operation modules (010), which are arranged at intervals along a first direction or a second direction, and adjacent wall operation modules (010) are connected by a suspension connector (011). The wall working device according to claim 1 or 2 is characterized in that, The magnetic caster wheel (120) is located on the outside of the wall working assembly (110), and each of the wall working assemblies (110) is provided with a magnetic caster wheel (120) on opposite sides. The wall working device according to claim 3 is characterized in that, Each of the wall operation units (100) shares a magnetic caster wheel (120) between two adjacent wall operation components (110). The wall working assembly (110) includes a mounting bracket (111) and a cleaning disc brush (112). The cleaning disc brush (112) is located on the side of the mounting bracket (111) facing the working wall surface (002). The cleaning disc brush (112) includes a disc brush base and a brush body. The disc brush base is connected to the mounting bracket (111), and the brush body is connected to the disc brush base. The wall working device according to claim 4 is characterized in that, The wall working assembly (110) includes a drive component (113) which is mounted on the fixed frame (111). The output shaft of the drive component (113) is connected to the cleaning disc brush (112), and the axis of the output shaft of the drive component (113) is perpendicular to the working wall surface (002). The wall working device according to claim 4 is characterized in that, The wall working module (010) includes a nozzle (131) and a nozzle bracket (133). The nozzle bracket (133) is connected to the fixing frame (111). The nozzle (131) is disposed on the nozzle bracket (133). The nozzle (131) is located on the side of the wall working module (010) away from the ground and is used to spray liquid toward the working wall (002). The wall working device according to claim 1 or 2 is characterized in that, The number of wall operation components (110) in two adjacent wall operation units (100) differs by one, and two adjacent wall operation components (110) in each wall operation unit (100) are hinged together by a hinge (140). The wall working device according to claim 7 is characterized in that, The wall operation module (010) includes a bellows cover (130), which is disposed on the side of the wall operation module (010) away from the working wall (002). The wall working device according to claim 4 is characterized in that, The wall operation module (010) has a wall operation component (110) in the middle with a fixing frame (111) having a recess at one end facing the cleaning disc brush (112) and a protrusion at the other end facing the cleaning disc brush (112). The wall working device according to claim 2 is characterized in that, When multiple wall operation modules (010) are arranged at intervals along the second direction, two adjacent wall operation modules (010) are 180 degrees apart, and adjacent wall operation components (110) of two adjacent wall operation modules (010) are connected by a suspension connector (011). The wall working device according to claim 1 or 2 is characterized in that, The traction mechanism includes a power end and a traction rope (032), and the power end includes a winch or a rope climbing machine (031); When the power end includes a rope climbing machine (031), the rope climbing machine (031) is fixed on the side of the wall working module (001) away from the working wall, and the traction rope (032) is fixed on the anchor point; When the power end includes a winch, the winch is fixed on the anchor point, the traction rope (032) is supported on the fixed pulley (033) and its end is connected to the wall working module (001). The wall working device according to claim 1 or 2 is characterized in that, The wall-mounted operation device includes a wastewater recovery module (004), which comprises: A flow guiding component (410) is arranged on the working wall surface (002). The flow guiding component (410) has a flow guiding groove (411). The side of the flow guiding groove (411) close to the working wall surface (002) is in contact with the working wall surface (002). The projection of the flow guiding groove (411) on the working wall surface (002) intersects with the direction of sewage flow. The flow guiding groove (411) has an outlet end. The support mechanism (420) has one end fixed to the support base surface and the other end connected to the side of the guide channel (411) away from the working wall surface (002). The wall working device according to claim 12 is characterized in that, The support mechanism (420) includes a fixed base (421), a connecting rod (422), and a fixing clamp (423). The fixed base (421) is fixed to the support base surface. The fixing clamp (423) is connected to the side of the guide channel (411) away from the working wall surface (002). The two ends of the connecting rod (422) are respectively connected to the fixed base (421) and the fixing clamp (423). The guide channel (411) is inclined from top to bottom along the direction of sewage flow. The wall working device according to claim 13 is characterized in that, The supporting base is the wall of the wind turbine tower, the fixing seat (421) is a magnetic seat, the magnetic seat is used to adhere to the wall of the wind turbine tower, and the connecting rod (422) and the fixing clamp (423) are connected by a hook. The wall working device according to claim 14 is characterized in that, The flow guiding component (410) is spirally arranged on the outer or inner wall of the wind turbine tower along the axial direction of the wind turbine tower, and the material of the flow guiding component (410) is a flexible waterproof sheet. The wall working device according to claim 15 is characterized in that, The flexible waterproof sheet is a waterproof cloth, and the side of the waterproof cloth near the working wall surface (002) is attached to the working wall surface (002) by adhesive or magnetic attraction. Furthermore, when the waterproof cloth is bonded to the working wall surface (002) by an adhesive method, the waterproof cloth and the working wall surface (002) are bonded together by waterproof tape. A method for working on a wall surface, characterized in that, The wall-working method is applied to the wall-working apparatus as described in any one of claims 1 to 16, comprising: The number and arrangement of the wall surface operation modules are determined based on the level of oil contamination on the wall surface to be worked on and the scope of the work. Based on the determined number and arrangement of the wall operation modules, any two adjacent wall operation modules are connected by a suspension connector to form a wall operation module. The traction mechanism pulls the wall operation module to move between the first operation point and the second operation point; The wall operation module performs operations on the wall between the first operation point and the second operation point. The wall surface operation method according to claim 17 is characterized in that, The wall surface operation method includes: Move the wall operation module to the third operation point; The traction mechanism pulls the wall operation module between the third and fourth operation points; The wall operation module performs operations on the wall between the third operation point and the fourth operation point.

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