wall-climbing robot

Abstract

The present invention discloses a wall-climbing robot comprising a body, a wall-climbing walking assembly, and a lifting assembly. The wall-climbing walking assembly is disposed on the body and is used to contact a climbing surface and drive the body to move. The lifting assembly includes a first telescopic member disposed on the side of the body facing the climbing surface. The first telescopic member extends and abuts the climbing surface to drive the body to adjust the climbing angle. The technical solution of the present invention can smoothly transition between two working surfaces with large inclination angles.

Description

Technical Field

[0001] The present invention relates to the technical field of wall climbing operations, and in particular to a wall climbing robot. Background Art

[0002] Over the course of long-term use, ships are subject to corrosion from seawater and wind, necessitating regular hull inspection and maintenance. Traditionally, this is performed while the ship is docked at a port or dockyard. Inspectors and construction workers, standing atop aerial vehicles over ten meters high or on scaffolding, use probes to inspect the hull and shin plates, or use high-pressure water jets or spray guns to remove rust and apply paint. This traditional method is inefficient and highly risky, prompting the development of robotic wall-climbing systems.

[0003] However, the surface of the ship is not a flat surface. When operating, the robot often faces the situation where the connection between two working surfaces has a large inclination angle, especially the working surfaces that are perpendicular to each other. At this time, it is difficult for the robot to smoothly transition to another working surface. Summary of the Invention

[0004] Based on this, in order to address the problem that current robots have difficulty in transitioning between two working surfaces with large inclinations, it is necessary to provide a wall-climbing robot that is designed to be able to smoothly transition between two working surfaces with large inclinations.

[0005] To achieve the above objectives, the present invention provides a wall-climbing robot, comprising:

[0006] body;

[0007] A wall-climbing walking assembly, the wall-climbing walking assembly being provided on the fuselage and configured to contact a climbing surface and drive the fuselage to move; and

[0008] The lifting assembly includes a first telescopic member, the first telescopic member is arranged on the side of the fuselage facing the climbing surface, and the first telescopic member is extended to abut against the climbing surface to drive the fuselage to adjust the climbing angle.

[0009] Optionally, the fuselage includes a front body and a rear body connected to the front body, and a turning gap is separated between the front body and the rear body. The lifting assembly also includes a first driving member, which is arranged on the front body, and the first driving member drives the first telescopic member.

[0010] Optionally, the lifting assembly further includes a second driving member and a second telescopic member, the second driving member is provided at the rear body of the machine, the second driving member is drivingly connected to the second telescopic member, and the extension direction of the second telescopic member is away from the front body of the machine.

[0011] Optionally, the wall-climbing walking assembly includes a first magnetic wheel group, a second magnetic wheel group and a third magnetic wheel group. The first magnetic wheel group is arranged on the front body of the machine, the second magnetic wheel group and the third magnetic wheel group are both arranged on the side of the rear body of the machine facing the climbing surface, and the first magnetic wheel group is arranged on the center line of the connecting line between the second magnetic wheel group and the third magnetic wheel group.

[0012] Optionally, the wall-climbing walking assembly includes a steering drive and a steering rod connected to the steering drive, one end of the steering rod away from the steering drive is connected to the first magnetic wheel group, and the steering drive drives the first magnetic wheel group to steer through the steering rod.

[0013] Optionally, the wall-climbing walking assembly includes a rotating drive component, which is driven and connected to the first magnetic wheel group. The rotating drive component is arranged on one axial side of the first magnetic wheel group, and an avoidance channel is opened on the front body of the machine corresponding to the rotating drive component.

[0014] Optionally, at least one of the first magnetic wheel group, the second magnetic wheel group and the third magnetic wheel group includes a permanent magnet wheel, a first magnetizing armature wheel and a second magnetizing armature wheel, the first magnetizing armature wheel is arranged at one axial end of the permanent magnet wheel, and the second magnetizing armature wheel is arranged at the other axial end of the permanent magnet wheel.

[0015] Optionally, at least one of the first magnetic wheel group, the second magnetic wheel group and the third magnetic wheel group further includes a first supporting armature wheel and a second supporting armature wheel, the first supporting armature wheel is arranged on the axial side of the first magnetizing armature wheel away from the permanent magnet wheel, and the second supporting armature wheel is arranged on the axial side of the second magnetizing armature wheel away from the permanent magnet wheel, and the diameters of the first supporting armature wheel and the second supporting armature wheel are larger than the diameter of the permanent magnet wheel.

[0016] Optionally, the wall-climbing robot includes a first accessory box and a second accessory box, the first accessory box is arranged at the front body of the machine, and the second accessory box is arranged at the rear body of the machine, and the first accessory box and the second accessory box are spaced apart to form an installation space for installing working parts.

[0017] Optionally, the wall-climbing robot includes a camera component, which is provided on the body and includes a camera and an illumination light source;

[0018] The wall-climbing robot includes a wireless connection module, which is arranged on the body and is used to receive and send signals.

[0019] In the technical solution proposed by the present invention, the wall-climbing robot climbs on the corresponding climbing surface through the wall-climbing walking component, thereby driving the fuselage to move. After encountering two contact surfaces with larger inclination angles, the lifting component extends through the first telescopic component, and the first telescopic component abuts the climbing surface facing the fuselage, and the first telescopic component applies a resisting force to the climbing surface. Since the position of the climbing surface is fixed, when the first telescopic component applies a resisting force to the climbing surface, the climbing surface will apply a reaction force to the fuselage through the first telescopic component, so that the fuselage leaves the climbing surface under the action of the reaction force, so that the fuselage approaches the need to transition to another climbing surface, and then the wall-climbing walking component also contacts the other climbing surface, the wall-climbing walking component moves on the other climbing surface, the first telescopic component shortens, and the entire fuselage transitions to the other climbing surface under the drive of the wall-climbing walking component. It can be seen from this that the present invention can smoothly transition between two working surfaces with larger inclination angles. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the structures shown in these drawings without paying any creative work.

[0021] Figure 1 This is a schematic structural diagram of an embodiment of a wall-climbing robot according to the present invention;

[0022] Figure 2 for Figure 1 A schematic structural diagram of the wall-climbing robot of the present invention from another perspective;

[0023] Figure 3 It is a schematic diagram of the exploded structure of the first magnetic wheel assembly in the present invention;

[0024] Figure 4 It is a structural schematic diagram of the mechanical arm of the wall-climbing robot of the present invention.

[0025] Description of Figure Numbers:

[0026]

[0027]

[0028] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings and in conjunction with the embodiments. DETAILED DESCRIPTION

[0029] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0030] It should be noted that all directional indications in the embodiments of the present invention (such as up, down, left, right, front, back, etc.) are only used to explain the relative position relationship, movement status, etc. between the various components under a certain specific posture (as shown in the accompanying drawings). If the specific posture changes, the directional indication will also change accordingly.

[0031] In addition, the terms "first," "second," and so on, used in this disclosure are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of the technical features being referenced. Thus, a feature specified as "first" or "second" may explicitly or implicitly include at least one such feature. In the description of this disclosure, "plurality" means at least two, such as two or three, unless otherwise specifically defined.

[0032] In the present invention, unless otherwise specified or limited, the terms "connection" and "fixation" should be understood in a broad sense. For example, "fixation" can mean fixed connection, detachable connection, or integration; mechanical connection or electrical connection; direct connection or indirect connection through an intermediate medium; internal communication between two elements or interaction between two elements, unless otherwise specified. Those skilled in the art will be able to understand the specific meanings of the above terms in the present invention based on specific circumstances.

[0033] In addition, the technical solutions between the various embodiments of the present invention can be combined with each other, but it must be based on the fact that ordinary technicians in this field can implement it. When the combination of technical solutions is mutually contradictory or cannot be implemented, it should be deemed that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0034] When inspecting and performing construction work on the surface of a ship, robots often face situations where the two working surfaces meet at large angles, especially when the working surfaces are perpendicular to each other. At this time, the front end of the robot will collide with the other working surface, making it difficult to move forward.

[0035] For this purpose, see Figure 1As shown, the present invention provides a wall-climbing robot that can smoothly transition between two working surfaces with large inclination angles. The wall-climbing robot includes: a body 10, a wall-climbing walking assembly, and a lifting assembly; the wall-climbing walking assembly and the lifting assembly are both arranged on the body 10.

[0036] The wall-climbing walking assembly is provided on the fuselage 10 and is used to contact the climbing surface and drive the fuselage 10 to move. The wall-climbing walking assembly can move in a variety of ways, for example, using a suction cup. After the suction cup contacts the climbing surface, it is vacuum-attached to the climbing surface. When movement is required, the suction cup breaks the vacuum and leaves the climbing surface. When moving, the wall-climbing walking assembly may include multiple walking arms, each equipped with a suction cup. The multiple walking arms move alternately, thereby ensuring that the fuselage 10 does not leave the climbing surface and allowing the fuselage 10 to move continuously. In addition, the wall-climbing walking assembly can also move using magnetic wheels. The surface of a ship is generally made of iron, which is magnetic. The magnetic wheels can be attached to the surface of the ship, and the fuselage 10 is then fixed to the surface of the ship. The rotation of the magnetic wheels can achieve the movement of the fuselage 10.

[0037] The lifting assembly includes a first telescopic member 310, which is positioned on the side of the fuselage 10 facing the climbing surface. The first telescopic member 310 extends and abuts the climbing surface, driving the fuselage 10 to adjust its climbing angle. The first telescopic member 310 is retractable. When extended, it abuts the climbing surface. The reaction force exerted by the climbing surface on the fuselage 10 drives the fuselage 10 away from the original climbing surface, allowing the wall-climbing assembly to contact another climbing surface. For example, if the fuselage 10 is parallel to the original climbing surface, the extended abutment of the first telescopic member 310 creates an inclination between the fuselage 10 and the original climbing surface, reducing the inclination between the fuselage 10 and the alternative climbing surface. As the first telescopic member 310 extends and the wall-climbing assembly moves, the fuselage 10 becomes parallel to the alternative climbing surface, allowing the fuselage 10 to transition to the alternative climbing surface.

[0038] See Figure 1 As shown, in the above embodiment, the wall-climbing robot is a three-wheeled design. In addition, the above implementation can also be used for a two-wheeled design or a four-wheeled design.

[0039] In the technical solution of this embodiment, the wall-climbing robot climbs on the corresponding climbing surface via the wall-climbing walking assembly, thereby driving the body 10 to move. After encountering two contact surfaces with larger inclination angles, the lifting assembly extends via the first telescopic member 310. The first telescopic member 310 abuts the climbing surface facing the body 10, and the first telescopic member 310 applies a resisting force to the climbing surface. Because the position of the climbing surface is fixed, when the first telescopic member 310 applies a resisting force to the climbing surface, the climbing surface exerts a reaction force on the body 10 via the first telescopic member 310. As a result, the body 10 moves away from the climbing surface under the action of the reaction force, causing the body 10 to approach the other climbing surface to be transitioned to. Subsequently, the wall-climbing walking assembly also contacts the other climbing surface, and the wall-climbing walking assembly moves on the other climbing surface. The first telescopic member 310 shortens, and the entire body 10, driven by the wall-climbing walking assembly, transitions to the other climbing surface. Thus, it can be seen that the present invention can smoothly transition between two working surfaces with larger inclination angles.

[0040] To make it easier for the fuselage 10 to adjust its climbing angle, based on the above embodiment, the fuselage 10 includes a front body 110 and a rear body 120 connected to the front body 110, with a turning gap separating the front body 110 and the rear body 120. The lifting assembly also includes a first driving member 330, which is disposed on the front body 110 and drives the first telescopic member 310. The fuselage 10 is typically equipped with various cleaning and maintenance devices, so the fuselage 10 is designed to be relatively long. During angle adjustment, the fuselage 10 is too long, resulting in the entire fuselage 10 moving, requiring the first telescopic member 310 to extend a longer distance to allow the entire fuselage 10 to move. To avoid the long extension of the first telescopic member 310 and to make it easier to adjust the angle of the fuselage 10, the fuselage 10 is divided into the front body 110 and the rear body 120, with a turning gap provided between the front body 110 and the rear body 120. The first drive member 330 drives the first telescopic member 310 to extend, thereby causing the front body 110 to rise first. This allows the front body 110 to first contact the other climbing surface, thus preventing the first telescopic member 310 from extending too long. Simply put, the fuselage 10 is divided into two sections. Through the turning gap between the front body 110 and the rear body 120, the planes of the front body 110 and the rear body 120 can be arranged at an angle to each other. One section of the fuselage 10 first contacts the other climbing surface, which then drives the remaining section of the fuselage 10 to contact the other climbing surface. It should be noted that to make it easier for the fuselage 10 to pass through two climbing surfaces, the fuselage 10 can also be designed into three or more sections.

[0041] In addition, the front body 110 is at the front end of the wall-climbing robot. When the wall-climbing robot turns, the front body 110 rotates first, and then drives the rear body 120 to rotate, thereby reducing the overall turning radius of the body 10 and making the wall-climbing robot more flexible in turning.

[0042] In the above embodiment, the lifting assembly also includes a second driving member 340 and a second telescopic member 320. The second driving member 340 is arranged on the rear body 120 of the machine, and the second driving member 340 is driven and connected to the second telescopic member 320. The extension direction of the second telescopic member 320 is away from the front body 110 of the machine.

[0043] Specifically, when the fuselage 10 adjusts its climbing angle, the first telescopic member 310 extends and contacts the climbing surface, driving the front body 110 upward. At this point, the rear body 120 also begins to form an angle with the climbing surface, and the second driving member 340 drives the second telescopic member 320 to extend, extending away from the front body 110. The second telescopic member 320 also contacts the climbing surface. This contact between the front and rear ends makes it easier for the fuselage 10 to adjust its climbing angle.

[0044] In addition, the surface of a ship usually has an arc, and through the extension and abutment of the first telescopic member 310 and the second telescopic member 320, the wall-climbing robot can also move on the curved surface of the ship.

[0045] In the above embodiment, the wall-climbing robot assembly includes a first magnetic wheel group 210, a second magnetic wheel group 220, and a third magnetic wheel group 230. The first magnetic wheel group 210 is located on the front body 110, and the second magnetic wheel group 220 and the third magnetic wheel group 230 are both located on the side of the rear body 120 facing the climbing surface. The first magnetic wheel group 210 is located at the center line of the connecting line between the second magnetic wheel group 220 and the third magnetic wheel group 230. The connecting line between the first magnetic wheel group 210, the second magnetic wheel group 220, and the third magnetic wheel group 230 forms a triangle. By adjusting the rotation direction of the first magnetic wheel group 210, the walking direction of the wall-climbing robot can be adjusted. Simply put, controlling one magnetic wheel group can achieve steering, making the structure more concise and easier to operate. Controlling one magnetic wheel group also allows for a smaller turning radius, making the wall-climbing robot more flexible.

[0046] In the above embodiment, see Figure 2 and Figure 3As shown, the wall-climbing walking assembly includes a steering drive 350 and a steering rod 351 connected to the steering drive 350. The end of the steering rod 351 away from the steering drive 350 is connected to the first magnetic wheel group 210. The steering drive 350 drives the first magnetic wheel group 210 to steer via the steering rod 351. Specifically, the steering drive 350 includes a steering motor. Fixed plates 352 are provided at both axial ends of the first magnetic wheel group 210. A connecting plate 353 is provided between the two fixed plates 352. The end of the steering rod 351 away from the steering drive 350 is connected to the connecting plate 353. When the steering drive 350 is powered on, the output power drives the steering rod 351 to rotate. The steering rod 351 drives the connecting plate 353 to rotate, thereby driving the first magnetic wheel group 210 to adjust its travel direction.

[0047] In the above embodiment, the wall-climbing assembly includes a rotating drive member 360, which is drivably connected to the first magnetic wheel assembly 210. The rotating drive member 360 is disposed on one axial side of the first magnetic wheel assembly 210, and an avoidance channel 111 is provided on the front body 110 corresponding to the rotating drive member 360. Specifically, the rotating drive member 360 includes a rotating motor, a drive shaft is disposed on one axial side of the first magnetic wheel assembly 210, and the rotating drive member 360 is connected to the drive shaft. When powered, the rotating drive member 360 outputs a rotational force through the drive shaft, thereby driving the first magnetic wheel assembly 210 to rotate. The rotating drive member 360 is sometimes long and occupies a large space. The rotating drive member 360 typically rotates together with the first magnetic wheel assembly 210. During the synchronous rotation process, the rotating driving member 360 is likely to collide with the fuselage 10. For this reason, an avoidance channel 111 is opened on the front body 110 corresponding to the rotating driving member 360. When turning, the rotating driving member 360 moves in the avoidance channel 111, thereby preventing the rotating driving member 360 from colliding with the fuselage 10.

[0048] In addition, it should be pointed out that corresponding rotating motors are also provided on the second magnetic wheel group 220 and the third magnetic wheel group 230. In order to save space, the rotating motor connected to the second magnetic wheel group 220 and the rotating motor connected to the third magnetic wheel group 230 are provided between the second magnetic wheel group 220 and the third magnetic wheel group 230.

[0049] In the above embodiment, at least one of the first magnetic wheel assembly 210, the second magnetic wheel assembly 220, and the third magnetic wheel assembly 230 includes a permanent magnetic wheel 211, a first magnetizing armature wheel 212, and a second magnetizing armature wheel 213. The first magnetizing armature wheel 212 is located at one axial end of the permanent magnetic wheel 211, and the second magnetizing armature wheel 213 is located at the other axial end of the permanent magnetic wheel 211. The surface of a ship is typically made of iron, and the magnetic wheel assembly enables the wall-climbing robot to remain attached to the ship's surface. The permanent magnetic wheel 211 is a magnet, and the first magnetizing armature wheel 212 and the second magnetizing armature wheel 213 function to increase the magnetic force of the magnetic wheel assembly, thereby enabling the body 10 to move more securely on the ship's surface. The permanent magnetic wheel 211, the first magnetizing armature wheel 212, and the second magnetizing armature wheel 213 have the same diameter. Furthermore, to effectively enhance magnetic properties, the width of the permanent magnetic wheel 211 is greater than the widths of the first magnetizing armature wheel 212 and the second magnetizing armature wheel 213.

[0050] Furthermore, a magnetic field weakening device can be provided at both ends of the first magnetic wheel assembly 210. When climbing a right-angled wall, the magnetic field of the first magnetic wheel assembly 210 can be weakened by the magnetic field weakening device. This can reduce the magnetism of the first magnetic wheel assembly 210, thereby allowing the first magnetic wheel assembly 210 to easily detach from the climbing surface, further reducing the difficulty of climbing. The magnetic field weakening device can generate a conductive current at both ends of the first magnetic wheel assembly 210, forming a magnetic field in the opposite direction of the first magnetic wheel assembly 210 through the electric field, so that the magnetic forces of the magnetic fields can cancel each other out. In addition, it is understood that a magnetic field in the same direction as the first magnetic wheel assembly 210 can also be generated at both ends of the first magnetic wheel assembly 210 to enhance the magnetic attraction of the first magnetic wheel assembly 210.

[0051] In the above embodiment, at least one of the first magnetic wheel group 210, the second magnetic wheel group 220 and the third magnetic wheel group 230 includes a first supporting armature wheel 214 and a second supporting armature wheel 215. The first supporting armature wheel 214 is arranged on the axial side of the first magnetizing armature wheel 215 away from the permanent magnet wheel 211, and the second supporting armature wheel 215 is arranged on the axial side of the second magnetizing armature wheel 213 away from the permanent magnet wheel 211. The diameters of the first supporting armature wheel 214 and the second supporting armature wheel 215 are larger than the diameter of the permanent magnet wheel 211.

[0052] Because the permanent magnet wheel 211 is primarily composed of magnets, the magnets are relatively brittle. When the first magnetic wheel assembly 210 moves across the surface of the ship, the magnets directly contact the ship's surface, which can easily cause the permanent magnet wheel 211 to break. Therefore, the diameters of the first and second support armature wheels 214, 215 are designed to be larger than the diameter of the permanent magnet wheel 211. This allows the radial surfaces of the first and second support armature wheels 214, 215 to contact the ship's surface, while a certain gap exists between the radial surface of the permanent magnet wheel 211 and the ship's surface. This prevents the permanent magnet wheel 211 from directly contacting the ship's surface, protecting the permanent magnet wheel 211 from damage. The first and second support armature wheels 214, 215 also have magnetic conductivity, smoothly transmitting the magnetic attraction of the permanent magnet wheel 211 to the ship's surface.

[0053] In the above embodiment, the wall-climbing robot includes a first accessory box 40 and a second accessory box 50. The first accessory box 40 is located on the front section 110, and the second accessory box 50 is located on the rear section 120. The first and second accessory boxes 40, 50 are spaced apart, forming a mounting space for mounting operating components. For example, the first accessory box 40 is used to mount the first driver 330, and the second accessory box 50 is used to mount the second driver 340. A six-axis robotic arm 60 is located between the first and second accessory boxes 40, 50. During ship construction operations, the robotic arm 60 can be equipped with other operating components, such as a high-pressure water gun and a paint spray gun. For ship thickness testing, the robotic arm 60 can also be equipped with other operating components, such as an electromagnetic ultrasonic probe or a piezoelectric ultrasonic probe.

[0054] In the above embodiment, the wall-climbing robot includes a camera component (not shown), which is arranged on the fuselage 10 and includes a camera and an illumination light source; the wall-climbing robot includes a wireless connection module, which is arranged on the fuselage 10 and is used to receive and send signals. The wall-climbing robot can sometimes operate inside a ship, but the light inside the ship is usually weak, so an illumination light source is needed to provide lighting. The camera is used to capture the conditions on the surface of the ship and remotely transmit the captured conditions to the control terminal via the wireless connection module. The control terminal then issues operating instructions via the wireless connection module. Alternatively, the wall-climbing robot can operate autonomously based on the conditions on the surface of the ship. In addition, the camera can be set on the front body 110 of the machine, or on the rear body 120 of the machine, and the camera can also be set on the robotic arm 60.

[0055] In addition, a thickness gauge 70 is provided on one side of the first telescopic member 310. The thickness gauge 70 adopts the ultrasonic thickness measurement principle and is used to measure whether the thickness of the ship's surface paint meets the requirements. The thickness gauge 70 moves closer to or away from the climbing surface along with the first telescopic member 310.

[0056] The above are only preferred embodiments of the present invention and are not intended to limit the patent scope of the present invention. All equivalent structural transformations made using the contents of the present invention's description and drawings, or direct / indirect applications in other related technical fields, within the scope of the present invention are included in the patent protection scope of the present invention.

Claims

1. A wall-climbing robot, characterized in that: The wall-climbing robot comprises: A fuselage, the fuselage comprising a front body and a rear body connected to the front body, wherein a turning gap is provided between the front body and the rear body; A wall-climbing walking assembly, wherein the wall-climbing walking assembly is arranged on the fuselage, and the wall-climbing walking assembly is used to contact the climbing surface and drive the fuselage to move. The wall-climbing walking assembly includes a first magnetic wheel group, a second magnetic wheel group and a third magnetic wheel group. The first magnetic wheel group is arranged on the front body of the machine, and the second magnetic wheel group and the third magnetic wheel group are both arranged on the side of the rear body facing the climbing surface. The first magnetic wheel group is arranged on the center line of the connecting line between the second magnetic wheel group and the third magnetic wheel group. At least one of the first magnetic wheel group, the second magnetic wheel group and the third magnetic wheel group includes a permanent magnet wheel, a first magnetizing armature wheel and a second magnetizing armature wheel, wherein the first magnetizing armature wheel is provided at one axial end of the permanent magnet wheel, and the second magnetizing armature wheel is provided at the other axial end of the permanent magnet wheel, and at least one of the first magnetic wheel group, the second magnetic wheel group, and the third magnetic wheel group further comprises a first supporting armature wheel and a second supporting armature wheel, the first supporting armature wheel being provided at an axial side of the first magnetizing armature wheel away from the permanent magnet wheel, and the second supporting armature wheel being provided at an axial side of the second magnetizing armature wheel away from the permanent magnet wheel, and the diameters of the first supporting armature wheel and the second supporting armature wheel being larger than the diameter of the permanent magnet wheel; and A lifting assembly, the lifting assembly includes a first telescopic member, a first driving member, a second driving member and a second telescopic member, the first telescopic member is arranged on the side of the fuselage facing the climbing surface, the first telescopic member is extended and abuts against the climbing surface to drive the fuselage to adjust the climbing angle, the first driving member is arranged on the front body of the fuselage, the first driving member is driven and connected to the first telescopic member, the second driving member is arranged on the rear body of the fuselage, the second driving member is driven and connected to the second telescopic member, and the extension direction of the second telescopic member is away from the front body of the fuselage.

2. The wall-climbing robot according to claim 1, wherein: The wall-climbing walking assembly includes a steering drive and a steering rod connected to the steering drive. One end of the steering rod away from the steering drive is connected to the first magnetic wheel group. The steering drive drives the first magnetic wheel group to steer through the steering rod.

3. The wall-climbing robot according to claim 2, wherein: The wall-climbing walking assembly includes a rotating drive component, which is drivingly connected to the first magnetic wheel group. The rotating drive component is arranged on one axial side of the first magnetic wheel group, and the front body of the machine is provided with an avoidance channel corresponding to the rotating drive component.

4. The wall-climbing robot according to claim 1, wherein: The wall-climbing robot includes a first accessory box and a second accessory box. The first accessory box is arranged at the front body of the machine, and the second accessory box is arranged at the rear body of the machine. The first accessory box and the second accessory box are spaced apart to form an installation space for installing working parts.

5. The wall-climbing robot according to any one of claims 1 to 4, characterized in that: The wall-climbing robot includes a camera component, which is arranged on the body and includes a camera and an illumination light source; The wall-climbing robot includes a wireless connection module, which is arranged on the body and is used to receive and send signals.

Images