A wall-climbing robot

Abstract

The application relates to a wall-climbing robot, which comprises a robot main body, a walking structure and a plurality of groups of magnetic attraction structures. The walking structure comprises a walking part and a driving part arranged on the robot main body, the walking part is arranged movably relative to a wall surface, so that the robot main body can move on the wall surface, and the driving part is drivingly connected with the walking part. Each group of magnetic attraction structures comprises a working electromagnet, the working electromagnet is detachably mounted on the walking part, and is used for being adsorbed on the wall surface when being powered on and being separated from the wall surface when being powered off; and a plurality of working electromagnets are arranged at intervals, so that at least part of the working electromagnets can be magnetically adsorbed on the wall surface when the walking part moves. According to the scheme, the robot main body can move on the wall surface with cracks and unevenness by the magnetic force of the working electromagnet, and the adsorption reliability of the wall-climbing robot is improved; meanwhile, the working electromagnet is detachably connected with the walking part, so that the working electromagnet can be replaced in time when being damaged.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of robot technology, and in particular to a wall-climbing robot. BACKGROUND

[0002] Currently, the ship needs to be painted on the outer wall before it is completed and prepared for launching and in the mooring condition. Because the ship's outer wall is large, manual operation is low in efficiency, high in intensity, long in time, and unable to guarantee the quality of painting on all parts of the ship. At the same time, the staff in the painting operation is high-altitude operation, with a high risk coefficient, and prone to safety accidents; in addition, due to the toxicity of paint, it will seriously threaten the health of the staff. Using a wall-climbing robot to complete the painting operation on the ship wall will greatly improve the operation efficiency and quality and greatly reduce the risk coefficient and labor cost of the painting operation.

[0003] For example, patent CN 114013525 A discloses a suction cup crawler type wall-climbing robot, which is provided with a negative pressure providing mechanism. After the negative pressure is provided by the negative pressure providing mechanism, it is transmitted to the suction cup assembly, so that the suction cup assembly can be adsorbed on the wall to clean and maintain the ship's side wall.

[0004] However, for negative pressure adsorption, affected by the shape of the wall, if the wall has concave-convex and cracks, the adsorption force will be reduced, and the wall-climbing robot will fall seriously, causing economic loss and endangering personal safety. Because it cannot guarantee the smoothness of the ship's surface, it is difficult to guarantee the reliability of the negative pressure adsorption on the ship. SUMMARY

[0005] Therefore, it is necessary to provide a wall-climbing robot to solve the technical problem that the wall-climbing robot in the prior art uses negative pressure adsorption, which is affected by the shape of the wall, and is difficult to guarantee the adsorption reliability on the ship's side wall.

[0006] The present application provides a wall-climbing robot for working on a wall that can be magnetically adsorbed, comprising:

[0007] a robot body;

[0008] a walking structure, comprising a walking part and a driving part provided on the robot body, the walking part being used to movably arrange relative to the wall, so that the robot body can move on the wall, and the driving part being drivingly connected with the walking part to drive the walking part to move relative to the wall; and

[0009] A plurality of groups of magnetic attraction structures, each group of the magnetic attraction structures comprising a working electromagnet, the working electromagnet being detachably mounted on the walking part, and being used to be attracted to a wall surface when powered on and to be able to be separated from the wall surface when powered off, and a plurality of the working electromagnets being arranged at intervals so that at least part of the working electromagnets can be magnetically attracted to the wall surface when the walking part moves, to limit the robot body from separating from the wall surface.

[0010] Optionally, a plurality of mounting grooves are recessed on the walking part, a side wall of each of the mounting grooves is recessed with a mounting hole, the working electromagnet partially extends into the corresponding mounting groove, and a limiting groove is recessed corresponding to the mounting hole;

[0011] Each group of the magnetic attraction structures further comprises a limiting piece, the limiting piece being movably arranged in the corresponding mounting hole to have a working position in which part of the limiting piece extends from the mounting hole into the limiting groove, and an initial position in which the limiting piece is retracted from the limiting groove into the mounting hole, the limiting piece being in the working position to limit the working electromagnet from separating from the walking part, and in the initial position to enable the working electromagnet to separate from the walking part.

[0012] Optionally, the limiting piece is made of a magnetically attractive material, so that when the working electromagnet is powered on, the limiting piece can be attracted from the initial position to the working position by the part of the working electromagnet extending into the mounting groove, and when the working electromagnet is powered off, the limiting piece can be switched from the working position to the initial position.

[0013] Optionally, a first elastic return piece is arranged between the limiting piece and the inner wall of the mounting hole, the first elastic return piece being used to return the limiting piece from the working position to the initial position when the working electromagnet is powered off.

[0014] Optionally, a plurality of mounting holes are provided, and a plurality of the mounting holes are arranged at intervals along the circumference of the mounting groove;

[0015] A plurality of limiting pieces are provided, and a plurality of the limiting pieces correspond one-to-one to a plurality of the mounting holes;

[0016] The limiting groove is arranged to extend along the circumference of the working electromagnet.

[0017] Optionally, the working electromagnet comprises a connecting section and a contact section, one end of the connecting section extends into the mounting groove, and the other end is detachably connected to the contact section, the contact section being used to adhere to and be attracted to the wall surface when powered on;

[0018] The limiting groove is arranged at one end of the connecting section extending into the mounting groove.

[0019] Optionally, a connecting groove is concavely arranged on one side of the contact section close to the connecting section, a side wall of the connecting groove is concavely arranged with a guide hole, the connecting section is partially inserted into the connecting groove and concavely arranged with a locking groove corresponding to the guide hole;

[0020] Each of the magnetic attraction structures further comprises a locking member movably arranged in the corresponding guide hole, so as to be capable of being inserted into the locking groove from the guide hole, for limiting the contact section from being separated from the connecting section, and capable of being retracted into the guide hole from the locking groove, so that the contact section can be detached from the connecting section.

[0021] Optionally, the magnetic force of the connecting section is greater than that of the contact section, and the locking member is made of magnetically attractive material, so as to be capable of being partially inserted into the locking groove from the guide hole when the connecting section is powered on, and capable of being retracted into the guide hole from the locking groove when the connecting section is powered off.

[0022] Optionally, a second elastic return member is arranged between the locking member and the inner wall of the guide hole, so as to drive the locking member to retract into the guide hole when the connecting section is powered off.

[0023] Optionally, the walking part is two walking tracks arranged on the robot body, and the two walking tracks are arranged in a width direction of the robot body, wherein the working electromagnet is arranged on the walking track.

[0024] The driving part comprises two groups of driving wheels, driven wheels and driving motors arranged on the robot body, the driving wheels and the driven wheels of each group are arranged in the corresponding walking track, and the driving motor is drivingly connected with the driving wheel, so as to drive the driving wheel to rotate, so that the walking track moves relative to the wall surface.

[0025] Compared with the prior art, in the wall climbing robot, a plurality of working electromagnets are arranged on the walking part in the moving direction, so that at least part of the working electromagnets can be attracted to the side wall surface of the ship body when powered on during the movement of the walking part, so as to avoid the robot body from separating from the ship body, and the robot body can move on the wall surface with cracks and unevenness by the magnetic force of the working electromagnet, thereby improving the adsorption reliability of the wall climbing robot. At the same time, the working electromagnet is detachably connected with the walking part, so that the working electromagnet can be replaced in time when damaged.

[0026] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and can be implemented according to the content of the specification, and the preferred embodiments of the present application are described in detail below with the help of the drawings. The specific embodiments of the present application are described in detail below with the help of the drawings. BRIEF DESCRIPTION OF DRAWINGS

[0027] The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiments of the application and together with the description serve to explain the application. In the drawings:

[0028] Figure 1 Structure schematic view of an embodiment of the wall-climbing robot provided by the present application;

[0029] Figure 2 Structure schematic view of the magnetic attraction structure; Figure 1 Structure schematic view of the magnetic attraction structure;

[0030] Figure 3 Structure schematic view of the magnetic attraction structure and the mounting seat; Figure 2 Structure schematic view of the magnetic attraction structure and the mounting seat;

[0031] Figure 4 Structure schematic view of the magnetic attraction structure and the mounting seat; Figure 3 Structure schematic view of the magnetic attraction structure and the mounting seat;

[0032] Figure 5 Structure schematic view of the working electromagnet; Figure 3 Structure schematic view of the working electromagnet;

[0033] Figure 6 Structure schematic view of the walking part; Figure 1 Structure schematic view of the walking part;

[0034] Figure 7 Structure schematic view of the mounting seat; Figure 6 Structure schematic view of the mounting seat;

[0035] Figure 8 High-pressure airless spraying integrated machine principle diagram of the paint spraying mechanism.

[0036] Explanation of the reference signs:

[0037] 100 - wall-climbing robot, 1 - robot main body, 2 - walking structure, 21 - walking part, 211 - walking track, 212 - track main body, 213 - mounting seat, 213a - mounting groove, 213b - mounting hole, 22 - driving part, 221 - driving wheel, 222 - driven wheel, 3 - magnetic attraction structure, 31 - working electromagnet, 31a - limiting groove, 311 - connecting section, 311a - locking groove, 312 - contact section, 312a - connecting groove, 312b - guide hole, 32 - limiting piece, 33 - first elastic return piece, 34 - locking piece, 35 - second elastic return piece, 4 - tensioning mechanism, 5 - paint spraying mechanism, 51 - automatic sliding table mechanism, 52 - spraying nozzle, 53 - protective paint hose. DETAILED DESCRIPTION

[0038] The preferred embodiments of the present invention will be described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, and are not used to limit the scope of the present invention.

[0039] See Figures 1 to 7 The wall-climbing robot 100 is used to work on a magnetically attracted wall. The wall-climbing robot 100 includes a robot body 1, a walking structure 2, and multiple groups of magnetic structures 3. The walking structure 2 includes a walking portion 21 and a driving portion 22 provided on the robot body 1. The walking portion 21 is configured to be movable relative to the wall so that the robot body 1 can move on the wall. The driving portion 22 is connected to the walking portion 21 to drive the walking portion 21 to move relative to the wall. Each group of magnetic structures 3 includes a working electromagnet 31, which is detachably mounted on the walking portion 21 and is configured to be attracted to the wall when powered on and to be detached from the wall when powered off. The multiple working electromagnets 31 are arranged at intervals so that when the walking portion 21 moves, at least some of the working electromagnets 31 can be magnetically attracted to the wall, thereby preventing the robot body 1 from detaching from the wall. It should be noted that in this embodiment, the multiple working electromagnets 31 are arranged at intervals along the moving direction of the walking portion 21.

[0040] In the wall-climbing robot 100 provided by the present invention, a plurality of working electromagnets 31 are provided on the walking part 21 at intervals along its moving direction, so that during the movement of the walking part 21, at least some of the working electromagnets 31 are able to be adsorbed on the side wall of the hull when they are in an energized state, thereby preventing the robot body 1 from separating from the hull. With the help of the magnetic force of the working electromagnets 31, the robot body 1 can be moved on the wall with cracks and bumps, thereby improving the adsorption reliability of the wall-climbing robot 100. At the same time, the working electromagnets 31 are detachably connected to the walking part 21, so that the working electromagnets 31 can be replaced in time when they are damaged.

[0041] It should be noted that the configuration of the walking unit 21 is not limited, as long as it can drive the robot body 1 to move on the side wall surface of the hull, including but not limited to foot-type, wheel-type, frame-type and track-type. Specifically, in this embodiment, the walking unit 21 is two walking tracks 211 provided on the robot body 1, and the two walking tracks 211 are spaced apart along the width direction of the robot body 1, wherein the working electromagnet 31 is provided on the walking tracks 211; the driving unit 22 includes two sets of driving wheels 221, driven wheels 222, and drive motors provided on the robot body 1, and each set of driving wheels 221 and driven wheels 222 is provided on the corresponding walking tracks 211. The drive motor is connected to the driving wheel 221 to drive the driving wheel 221 to rotate, so that the walking tracks 211 move relative to the wall surface. Specifically, the working electromagnet 31 is spaced apart on the circumference of the walking tracks 211.

[0042] Further, the walking part 21 is concavely provided with a plurality of mounting grooves 213a, the sidewall of each mounting groove 213a is concavely provided with a mounting hole 213b, the working electromagnet 31 partially extends into the corresponding mounting groove 213a, and the corresponding mounting hole 213b is concavely provided with a limiting groove 31a; each group of magnetic attraction structure 3 further comprises a limiting piece 32, the limiting piece 32 is movably arranged in the corresponding mounting hole 213b, so as to have a working position in which part of the limiting piece 32 extends into the limiting groove 31a from the mounting hole 213b, and an initial position in which the limiting piece 32 is retracted into the mounting hole 213b from the limiting groove 31a, when the limiting piece 32 is in the working position, the working electromagnet 31 is limited to be separated from the walking part 21, and when the limiting piece 32 is in the initial position, the working electromagnet 31 can be separated from the walking part 21. In the embodiment, the limiting piece 32 is moved to realize the detachable connection between the working electromagnet 31 and the walking part 21, which is simple and reliable. In addition, in the scheme, the walking track 211 comprises a track main body 212 and a plurality of mounting seats 213 fixedly arranged on the track main body 212, the plurality of mounting seats 213 correspond to the plurality of groups of magnetic attraction structure 3 one by one, and the mounting groove 213a is formed on the mounting seat 213.

[0043] Further, the limiting piece 32 is made of a magnetic material, so that when the working electromagnet 31 is powered on, the limiting piece 32 can be attracted from the initial position to the working position by the part of the working electromagnet 31 extending into the mounting groove 213a, and when the working electromagnet 31 is powered off, the limiting piece 32 can be switched from the working position to the initial position. In the embodiment, when the working electromagnet 31 is powered on, part of the limiting piece 32 can be attracted from the mounting hole 213b into the limiting groove 31a, so as to avoid the working electromagnet 31 from separating from the attracting part; and when the working electromagnet 31 is powered off, the limiting piece 32 can be retracted into the mounting hole 213b, so that the working electromagnet 31 can be separated from the mounting groove 213a, thereby improving the convenience.

[0044] Specifically, a first elastic return piece 33 is arranged between the limiting piece 32 and the inner wall of the mounting hole 213b, and the first elastic return piece 33 is used to reset the limiting piece 32 from the working position to the initial position when the working electromagnet 31 is powered off. In the scheme, the first elastic return piece 33 drives the limiting piece 32 to retract from the limiting groove 31a to the mounting hole 213b, which is simple and reliable. It should be noted that in the embodiment, the first elastic return piece 33 is a first compression spring with one end fixed to the inner wall of the mounting hole 213b, and the other end fixed to the limiting piece 32. In addition, the limiting piece 32 is a limiting rod.

[0045] Further, to improve the fixing ability of the working electromagnet 31, the mounting hole 213b is provided with a plurality of mounting holes 213b, and the plurality of mounting holes 213b are arranged along the circumference of the mounting groove 213a; the limiting part 32 is provided with a plurality of limiting parts 32, and the plurality of limiting parts 32 correspond to the plurality of mounting holes 213b one by one; and the limiting groove 31a extends along the circumference of the working electromagnet 31. In this way, the stability of the working electromagnet 31 can be improved by the cooperation of the plurality of limiting parts 32 and the limiting groove 31a. Specifically, the cross section of the mounting groove 213a is circular, and correspondingly, the part of the working electromagnet 31 extending into the mounting groove 213a is cylindrical, so that the working electromagnet 31 can rotate around its axis in the mounting groove 213a.

[0046] Further, the working electromagnet 31 includes a connecting section 311 and a contact section 312, one end of the connecting section 311 extends into the mounting groove 213a, and the other end is detachably connected with the contact section 312, and the contact section 312 is used to adhere to and be adsorbed on the wall surface when energized; wherein the limiting groove 31a is arranged at one end of the connecting section 311 extending into the mounting groove 213a. In this embodiment, to improve the magnetic attraction ability of the working electromagnet 31 on the wall surface, the contact section 312 is directly arranged in contact with the wall surface. At the same time, to facilitate the timely replacement of the contact section 312 after wear, the contact section 312 and the connecting section 311 are arranged in a detachable connection form, so as to improve the adsorption stability while saving cost.

[0047] Further, the side of the contact section 312 close to the connecting section 311 is recessed with a connecting groove 312a, the side wall of the connecting groove 312a is recessed with a guide hole 312b, and the connecting section 311 is partially inserted into the connecting groove 312a and is recessed with a locking groove 311a corresponding to the guide hole 312b; each magnetic attraction structure 3 further includes a locking part 34, which is movably arranged in the corresponding guide hole 312b, so as to be inserted into the locking groove 311a from the guide hole 312b, to limit the contact section 312 from separating from the connecting section 311, and to be retracted in the guide hole 312b from the locking groove 311a, so that the contact section 312 can be detachably connected with the connecting section 311. In this embodiment, the locking part 34 is also movably arranged to realize the detachable connection between the connecting section 311 and the contact section 312.

[0048] Specifically, the magnetic force of the connecting section 311 is greater than that of the contact section 312, and the locking member 34 is made of a magnetically attractable material, so that when the connecting section 311 is powered, the locking member 34 can partially extend into the locking groove 311a from the guide hole 312b, and when the connecting section 311 is powered off, the locking member 34 can retract into the guide hole 312b from the locking groove 311a. In this embodiment, when the wall-climbing robot 100 is working, the connecting section 311 and the contact section 312 are both powered, at this time, the connecting section 311 can attract the limiting member 32 into the limiting groove 31a, and at the same time, the locking member 34 is attracted into the locking groove 311a, so as to fix the connecting section 311 and the contact section 312 with the walking part 21, which is simple to operate. When the wall-climbing robot 100 is not needed to work, the contact section 312 is powered off, and the connecting section 311 is kept in the powered state, so as to reduce the energy consumption and facilitate the wall-climbing robot 100 to quickly enter the working state. When the contact section 312 needs to be replaced, the connecting section 311 and the contact section 312 are powered off at the same time, so as to detach the working electromagnet 31 as a whole from the mounting groove 213a.

[0049] Specifically, the locking member 34 and the inner wall of the guide hole 312b are provided with a second elastic reset member 35, which drives the locking member 34 to retract into the guide hole 312b when the connecting section 311 is powered off. In this embodiment, the second elastic reset member 35 drives the locking member 34 to retract into the guide hole 312b, which improves the convenience. In this scheme, the second elastic reset member 35 is in the form of a second compression spring, and the locking member 34 is in the form of a locking rod. Similarly, in this embodiment, a plurality of guide holes 312b are spaced along the circumference of the connecting groove 312a, and a plurality of locking members 34 are correspondingly provided, and the locking groove 311a is arranged along the circumference of the connecting section 311, so as to improve the connection stability between the connecting section 311 and the contact section 312.

[0050] In addition, the wall-climbing robot 100 further comprises a tensioning mechanism 4, a paint spraying mechanism 5, a detection mechanism, and a control mechanism. The tensioning mechanism 4 is installed between the driving wheel 221 and the driven wheel 222, and drives the driven wheel 222 to move away from or close to the driving wheel 221. When the tensioning mechanism 4 drives the driven wheel 222 to move away from the driving wheel 221, the tensioning degree of the walking track 211 is increased to avoid slipping, and when the tensioning mechanism 4 drives the driven wheel 222 to close to the driving wheel 221, the tensioning degree of the walking track 211 is reduced to facilitate installation or disassembly. In this embodiment, the tensioning mechanism 4 is in the form of a hydraulic cylinder, and its two ends are respectively rotationally connected to the driving wheel 221 and the driven wheel 222.

[0051] The paint spraying mechanism 5 comprises a protective paint storage tank, an automatic sliding table mechanism 51, an automatic airless spray gun, a spray nozzle 52 and a protective paint hose 53. The paint spraying mechanism 5 is installed on the work execution mounting platform of the robot body 1. The protective paint storage tank is installed at the rear of the work execution mounting platform. The protective paint storage tank can store a certain amount of protective paint to provide the paint spraying mechanism 5 with protective paint. The automatic sliding table mechanism 51 is installed on the work execution mounting platform. The automatic sliding table mechanism 51 can stably support the spray gun and the spray nozzle 52. The automatic airless spray gun is installed on the work execution mounting platform, and the protective paint hose 53 connects the automatic airless spray gun with the protective paint storage tank. The spray gun is provided with a receiver connected with the control mechanism to receive the signal of the control mechanism, and moves transversely on the sliding table to realize the comprehensiveness of the protective paint spraying. The spray nozzle 52 is installed at the front end of the spray pipe, and realizes the high fineness and uniformity of the atomization of the protective paint under high pressure.

[0052] Please refer to Figure 8 , the principle of the high-pressure airless spraying integrated machine: the pneumatic motor D is connected with the air source H1, the motor power output drives the piston rod Q to move linearly reciprocatingly through the gearbox B and the eccentric shaft P, and the torque is applied to the plunger valve F in the coating cylinder to pressurize the coating. The pressurized coating is output from the plunger valve F, passes through the high-pressure hose N, the filter G, the automatic spray gun C, and finally is sprayed out from the spray nozzle T in an atomized state at high speed to form a coating film on the spraying surface. The exhaust valve A makes the system pressureless circulation, and the pressure controller Y is used to adjust the output pressure of the spraying machine. The control of the automatic spray gun C is realized by the air source H2 and the two-position three-way electromagnetic valve M, the action of the two-position three-way electromagnetic valve M is controlled through the signal input end X of the electromagnetic valve to realize the on-off of the gas, thereby controlling the opening and closing of the spray gun.

[0053] The detection mechanism comprises an image collector and a fill-in light. The image collector is installed at the front side of the work execution mounting platform and is opposite to the paint spraying mechanism 5, and adopts a CMOS digital image sensor image collection system. The CMOS digital image sensor image collection system can analyze the damage of the wall protective paint, and sends the wall detection result to the worker through a wireless communication device. The CMOS image sensor is a new type of high-performance integrated chip, which has the advantages of small size, light weight and simple development.

[0054] The control mechanism comprises a power supply, a controller and a charging and communication interface. The power supply is installed at the rear side in the robot body 1. The power supply provides electric energy for the new material, the driving mechanism, the paint spraying mechanism 5 and the controller. The controller is installed at the front side in the robot body 1 and is controlled by the signal transmitted by the communication interface. The controller receives the external control signal through a wireless communication device and converts the control signal into a control instruction.

[0055] The controller realizes flexible movement and manipulation of various modes of the wall-climbing robot 100. When the rotation speed and rotation direction of the step motors of the left and right driving wheels 221 are the same, the wall-climbing robot 100 is in a forward or backward state; when the rotation speed of the driving motors of the left and right driving wheels is the same but the rotation direction is opposite, the wall-climbing robot 100 is in a reversing state. The control mode of the controller includes three types: normal operation mode, repainting mode, and self-defined operation mode. The wall-climbing robot 100 realizes intelligent inspection through the wall sensor. Normal operation mode: the measurement and control system judges whether the protective paint is damaged, and controls the wall-climbing robot 100 to run normally in a preset regular route; repainting mode: when the measurement and control system judges that the protective paint is peeled off, the wall-climbing robot 100 is controlled to repaint the damaged protective paint; self-defined operation mode: the operation route of the wall-climbing robot 100 is manually controlled freely.

[0056] In addition, the rear side is provided with a charging interface and a communication interface. It should be noted that peeling of the protective paint is the most common form of damage to the protective paint; the basis for judging the degree of damage is that the thickness of the protective paint bottom layer is within a certain range; the protective paint has obvious discoloration. The control of the paint spraying amount is realized by a PID regulator to achieve precise control of the paint spraying amount. The PID is a kind of controller. Specifically, the PID is a kind of way of analog quantity closed-loop control without deviation, which can eliminate steady-state deviation and further solve problems such as stability and rapidity. Through image recognition technology, the PID controller can control the amount of protective paint entering the external spray pipe, thereby controlling the paint spraying amount.

[0057] The above is only the preferred specific embodiment of the present application, but the protection scope of the present application is not limited thereto, any person skilled in the art can easily think of changes or replacements within the technical range disclosed by the present application, which should be covered within the protection scope of the present application.

Claims

1. A wall-climbing robot for working on a magnetically attracted wall, characterized in that: It includes: Robot body; A walking structure, comprising a walking portion and a driving portion provided on the robot body, wherein the walking portion is arranged to move relative to a wall surface so that the robot body can move on the wall surface, and the driving portion is drivingly connected to the walking portion to drive the walking portion to move relative to the wall surface; and Multiple groups of magnetic attraction structures, each group of the magnetic attraction structures includes a working electromagnet, the working electromagnet being detachably mounted on the walking portion and configured to adhere to a wall when powered on and to detach from the wall when powered off, and the multiple working electromagnets being spaced apart so that when the walking portion moves, at least some of the working electromagnets can be magnetically attached to the wall, thereby preventing the robot body from detaching from the wall; The walking part is provided with a plurality of mounting grooves, and the side wall of each mounting groove is provided with a mounting hole, the working electromagnet part extends into the corresponding mounting groove, and a limiting groove is provided corresponding to the mounting hole; Each group of the magnetic attraction structures further includes a limiting member, which is movably disposed in the corresponding mounting hole to have a working position in which it partially extends from the mounting hole into the limiting groove, and an initial position in which it retracts from the limiting groove into the mounting hole. When the limiting member is in the working position, it is used to limit the working electromagnet from separating from the walking portion, and when in the initial position, it allows the working electromagnet to separate from the walking portion. The working electromagnet includes a connecting section and a contact section, one end of the connecting section extends into the mounting groove, and the other end is detachably connected to the contact section, and the contact section is used to adhere to and adsorb on the wall when energized; Wherein, the limiting groove is provided at one end of the connecting section extending into the mounting groove; A connecting groove is recessed on one side of the contact section close to the connecting section, a guide hole is recessed on the sidewall of the connecting groove, the connecting section partially extends into the connecting groove, and a locking groove is recessed corresponding to the guide hole; Each of the magnetic structures also includes a locking piece, which is movably arranged in the corresponding guide hole so that it can extend from the guide hole into the locking groove to limit the contact section from separating from the connecting section, and can retract from the locking groove into the guide hole so that the contact section can be detached from the connecting section.

2. The wall-climbing robot according to claim 1, characterized in that: The limiting member is made of a magnetically attractive material so that when the working electromagnet is powered on, it can be attracted from the initial position to the working position by the portion of the working electromagnet extending into the mounting slot, and when the working electromagnet is powered off, it can switch from the working position to the initial position.

3. The wall-climbing robot according to claim 2, characterized in that: A first elastic reset member is provided between the limit member and the inner wall of the mounting hole. The first elastic reset member is used to reset the limit member from the working position to the initial position when the working electromagnet is powered off.

4. The wall-climbing robot according to claim 1, characterized in that: There are multiple mounting holes, and the multiple mounting holes are spaced apart along the circumference of the mounting groove; There are multiple limiting members, and the multiple limiting members correspond to the multiple mounting holes one by one; The limiting groove is extended along the circumference of the working electromagnet.

5. The wall-climbing robot according to claim 1, characterized in that: The magnetic force of the connecting section is greater than the magnetic force of the contact section, and the locking piece is made of a magnetically attractive material so that when the connecting section is powered on, it can partially extend from the guide hole into the locking groove, and when the connecting section is powered off, it can retract from the locking groove into the guide hole.

6. The wall-climbing robot according to claim 5, characterized in that: A second elastic reset member is provided between the locking member and the inner wall of the guide hole. The second elastic reset member is used to drive the locking member to retract into the guide hole when the connection section is powered off.

7. The wall-climbing robot according to claim 1, characterized in that: The walking part is two walking tracks provided on the robot body, and the two walking tracks are spaced apart along the width direction of the robot body, wherein the working electromagnet is provided on the walking tracks; The driving part includes two groups of driving wheels, driven wheels, and driving motors provided on the robot body. The driving wheels and driven wheels of each group are provided in the corresponding walking tracks. The driving motor is connected to the driving wheels to drive the driving wheels to rotate, so that the walking tracks move relative to the wall.

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