A triangle gait multi-linkage driving type wall-climbing robot

Abstract

The application discloses a kind of based on triangle gait multi-linkage driving type six-foot wall-climbing robot.Main suction unit is mainly by main frame plate and three main suction feet fixedly connected with main frame plate, vice suction unit is mainly by three vice suction feet, power execution unit is connected with vice suction unit by driven unit, main suction unit is respectively connected with driven unit and power execution unit, to make that wall-climbing robot self-adapting steering, main frame plate can be moved along the circumferential direction of arc guide rail by slider, guide rod is fixedly connected on arc guide rail, slider can be moved back and forth along the axial direction of guide rod;Motor is used to drive screw rotation, and then drive vice suction foot movement.The wall-climbing robot of the application adopts multi-linkage driving structure, enhances the stability of anti-load capacity, power and overall structure;Mobile mode adopts typical "triangle gait" method, divides six legs into two groups of triangle supports, so that robot gravity center is low and has good stability.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of robots, and particularly relates to a multi-link driving type six-legged wall-climbing robot based on a triangle gait. BACKGROUND

[0002] There are thousands of large and medium-sized hydropower stations in service in China, and the tunnel detection of hydropower stations, especially the diversion and tailrace tunnel detection of large hydropower stations, has been a difficult problem for the hydropower industry. The tunnel detection currently carried out is carried out in a static water state, such as the diversion tunnel detection of the Ertan Hydropower Station and the diversion tunnel detection of the Jinping Hydropower Station. The diversion tunnel detection of the Jinping Hydropower Station is a successful example of long tunnel detection in a static water state in recent years.

[0003] At present, the mature application environment of underwater detection robots is mostly static water environment or low-flow environment, and the existing detection robots have difficulty in detection under high flow rate. Therefore, it is urgent to develop or modify a detection underwater robot that can detect under certain flow conditions. SUMMARY

[0004] In order to solve the problems in the background art, the purpose of the present application is to provide a multi-link driving type six-legged wall-climbing robot based on a triangle gait, which can realize wall-climbing detection of the robot under high flow rate.

[0005] The technical scheme adopted by the present application is as follows:

[0006] The wall-climbing robot comprises a main suction unit, an auxiliary suction unit, a power execution unit and a driven unit. The main suction unit mainly comprises a main frame plate and three main suction feet fixedly connected with the main frame plate, and the auxiliary suction unit mainly comprises three auxiliary suction feet. The power execution unit is connected with the auxiliary suction unit through the driven unit. The slider in the driven unit can move forward and backward along the axis of the power execution unit, thereby driving the auxiliary suction unit connected with the slider to move synchronously. The front end and the rear end of the main suction unit are movably connected with the driven unit and the power execution unit, respectively, so that the wall-climbing robot can adaptively turn during the wall-climbing suction process.

[0007] The auxiliary adsorption unit comprises a first auxiliary adsorption foot, a second auxiliary adsorption foot and a third auxiliary adsorption foot; the main adsorption unit comprises a main frame plate, a secondary frame plate, a first main adsorption foot, a second main adsorption foot and a third main adsorption foot, the first main adsorption foot and the first auxiliary adsorption foot are respectively located at the front and rear ends of the main frame plate, the second auxiliary adsorption foot and the third auxiliary adsorption foot are symmetrically distributed at the left and right sides of the middle part of the main frame plate, the second main adsorption foot and the third main adsorption foot are symmetrically distributed at the left and right sides of the middle part of the main frame plate, and the second auxiliary adsorption foot / third auxiliary adsorption foot is located in front of the second main adsorption foot / third main adsorption foot, the first main adsorption foot, the second main adsorption foot and the third main adsorption foot are fixedly connected with the main frame plate, and the secondary frame plate is connected between the second main adsorption foot and the third main adsorption foot.

[0008] The driven unit comprises an arc-shaped guide rail, two guide rods, a first sliding block, a second sliding block and a sliding block connecting shaft; the arc-shaped guide rail is located below the front end of the main frame plate, and the front end of the main frame plate is movably connected to the arc-shaped guide rail along the circumference of the arc-shaped guide rail through the sliding block, the two guide rods are arranged in parallel and at intervals, and the front ends of the two guide rods are fixedly connected to the left and right ends of the arc-shaped guide rail; the left and right ends of the first sliding block and the second sliding block are each provided with a guide hole, the two guide holes of the first sliding block are respectively sleeved on the front portions of the two guide rods, and the two guide holes of the second sliding block are respectively sleeved on the rear portions of the two guide rods, so that the first sliding block and the second sliding block are movably arranged on the guide rods along the axial direction of the guide rods, the first sliding block and the second sliding block are fixedly connected through the sliding block connecting shaft, so that the first sliding block and the second sliding block move synchronously forward and backward, and the sliding block connecting shaft is arranged in parallel with the guide rods;

[0009] The left and right sides of the first sliding block are fixedly connected with the second auxiliary adsorption foot and the third auxiliary adsorption foot respectively, the lower surface of the first sliding block is movably connected with the power execution unit, and the rear end of the second sliding block is fixedly connected with the first auxiliary adsorption foot.

[0010] The power execution unit comprises two screw-nut mechanisms and an underwater sealed motor; the two screw-nut mechanisms are arranged in parallel and at intervals, and the screw-nut mechanisms are located below the guide rods, the left and right ends of the lower surface of the first sliding block in the driven unit are respectively connected with the nuts of the two screw-nut mechanisms through bearings, the rear end of the screw rod of the screw-nut mechanism is fixedly connected with the underwater sealed motor, and the underwater sealed motor is used to drive the screw rod to rotate, so as to drive the nut in the screw-nut mechanism to move forward and backward along the axial direction of the screw rod, and further drive the first sliding block, the second sliding block and the three auxiliary adsorption feet to move forward and backward;

[0011] The third slider is provided with guide holes at left and right ends, and the two guide holes of the third slider are respectively sleeved on the middle portions of the two guide rods, so that the third slider is movably arranged on the guide rods in the axial direction.

[0012] The left and right sides of the secondary frame plate are movably connected with the rear ends of the two screw rod nut mechanisms through bearings.

[0013] The wall-climbing robot comprises six bearings, namely a first bearing, a second bearing, a third bearing, a fourth bearing, a fifth bearing and a sixth bearing; the outer rings of the first bearing and the second bearing are fixedly connected with the left and right ends of the lower surface of the first slider respectively, and the inner rings of the first bearing and the second bearing are fixedly connected with the nuts of the two screw rod nut mechanisms respectively, so that the auxiliary adsorption feet connected with the first slider can rotate relative to the screw rod nut mechanisms; the outer rings of the third bearing and the fourth bearing are fixedly connected with the left and right sides of the secondary frame plate respectively, and the inner rings of the third bearing and the fourth bearing are fixedly connected with the rear ends of the screws of the two screw rod nut mechanisms respectively, so that the main adsorption feet connected with the secondary frame plate can rotate relative to the screw rod nut mechanisms; the inner ring and the outer ring of the sixth bearing are connected with the upper end of the third slider and the lower surface of the main frame plate respectively, and the inner ring and the outer ring of the fifth bearing are connected with the lower end of the third slider and the secondary frame plate respectively, so that the main frame plate of the main adsorption unit can rotate relative to the driven unit.

[0014] The fifth bearing and the sixth bearing are coaxially arranged, and the center of the fifth bearing is the same as the center of the arc-shaped guide rail.

[0015] The main adsorption feet and the auxiliary adsorption feet are both suction cups provided with motors.

[0016] The principle and movement process of the present application are as follows:

[0017] The movement of the wall-climbing robot adopts the bionical movement mode of inchworm. This movement is divided into three stages: first, the contraction stage, the front part and the rear part of the mechanism are close together, and present a compact form. Next, the forward stretching stage, the front half part stretches forward, and the rear half part is temporarily fixed. Finally, the rear moving stage, the rear half part moves forward, and approaches the front half part, and completes the whole movement cycle. Through continuously circulating the three stages, the inchworm type movement mechanism can continuously move forward.

[0018] The present application has the following beneficial effects:

[0019] 1. The wall-climbing robot of the present application adopts a multi-link driving structure, and enhances the load resistance, power and stability of the overall structure.

[0020] 2. The wall-climbing robot of this invention adopts the typical "triangular gait" method, which divides the six legs into two sets of triangular supports, making the robot's center of gravity low and giving it good stability.

[0021] 3. This invention enables the wall-climbing robot of this invention to perform linear and turning movements in high-flow-rate environments. Attached Figure Description

[0022] Figure 1 Bottom view of the wall-climbing robot

[0023] Figure 2 This is an axonometric view of the wall-climbing robot.

[0024] Figure 3 Exploded view of the circular arc guide rail mechanism;

[0025] Figure 4 Front and side views of the main frame panel;

[0026] Figure 5 This is an exploded view of the rotating connection mechanism.

[0027] In the diagram: 1-Arc-shaped guide rail; 2-Screw and nut mechanism; 3-Second bearing; 4-First main adsorption foot; 5-Sixth bearing; 6-First bearing; 7-Second auxiliary adsorption foot; 8-Main frame plate; 9-Underwater sealing motor; 10-Second main adsorption foot; 11-Third bearing; 12-Second slider; 13-Fifth bearing; 14-First auxiliary adsorption foot; 15-Guide rod; 16-Fourth bearing; 17-Third main adsorption foot; 18-Slider connecting shaft; 19-First slider; 20-Third auxiliary adsorption foot. Detailed Implementation

[0028] The present invention will be described in detail below with reference to specific implementation examples. These examples will help those skilled in the art to further understand the present invention, but do not limit the present invention in any way.

[0029] like Figure 1 As shown, the wall-climbing robot includes a main adsorption unit, a secondary adsorption unit, a power execution unit, and a driven unit. The main adsorption unit mainly consists of a main frame plate 8 and three main adsorption feet fixedly connected to the main frame plate 8. The secondary adsorption unit mainly consists of three secondary adsorption feet. The power execution unit is connected to the secondary adsorption unit through the driven unit. The slider in the driven unit can move back and forth along the axis of the power execution unit, thereby driving the secondary adsorption unit connected to the slider to move synchronously. The front end and rear end of the main adsorption unit are movably connected to the driven unit and the power execution unit, respectively, so that the wall-climbing robot can adaptively turn relative to the secondary adsorption unit during the wall-climbing adsorption process. The forward direction of the wall-climbing robot is the direction in which the robot approaches the arc-shaped guide rail 1, and the rear direction of the wall-climbing robot is the direction in which it approaches the first secondary adsorption foot 14.

[0030] The auxiliary adsorption unit comprises a first auxiliary adsorption foot 14, a second auxiliary adsorption foot 7 and a third auxiliary adsorption foot 20; the main adsorption unit comprises a main frame plate 8, a secondary frame plate, a first main adsorption foot 4, a second main adsorption foot 10 and a third main adsorption foot 17, the first main adsorption foot 4 and the first auxiliary adsorption foot 14 are respectively located at the front and rear ends of the main frame plate 8, the second auxiliary adsorption foot 7 and the third auxiliary adsorption foot 20 are symmetrically distributed on the left and right sides of the middle part of the main frame plate 8, the second main adsorption foot 10 and the third main adsorption foot 17 are symmetrically distributed on the left and right sides of the middle part of the main frame plate 8, and the second auxiliary adsorption foot 7 / third auxiliary adsorption foot 20 is located on the front side of the second main adsorption foot 10 / third main adsorption foot 17, the first main adsorption foot 4, the second main adsorption foot 10 and the third main adsorption foot 17 are fixedly connected with the main frame plate 8, and the secondary frame plate is connected between the second main adsorption foot 10 and the third main adsorption foot 17.

[0031] As shown in Figure 2 and Figure 3 The driven unit comprises an arc-shaped guide rail 1, two guide rods 15, a first sliding block 19, a second sliding block 12 and a sliding block connecting shaft 18; the arc-shaped guide rail 1 is located below the front end of the main frame plate 8, and the front end of the main frame plate 8 is movably connected to the arc-shaped guide rail 1 along the circumferential direction of the arc-shaped guide rail 1 through the sliding block, the two guide rods 15 are arranged in parallel and at intervals, and the front ends of the two guide rods 15 are fixedly connected to the left and right ends of the arc-shaped guide rail 1 respectively; the left and right ends of the first sliding block 19 and the second sliding block 12 are each provided with a guide hole, the two guide holes of the first sliding block 19 are respectively sleeved on the front parts of the two guide rods 15, and the two guide holes of the second sliding block 12 are respectively sleeved on the rear parts of the two guide rods 15, so that the first sliding block 19 and the second sliding block 12 are movably arranged on the guide rods 15 along the axial direction of the guide rods 15, the first sliding block 19 and the second sliding block 12 are fixedly connected through the sliding block connecting shaft 18, so that the first sliding block 19 and the second sliding block 12 move forward and backward synchronously, and the sliding block connecting shaft 18 is arranged in parallel with the guide rods 15;

[0032] The left and right sides of the first sliding block 19 are respectively fixedly connected with the second auxiliary adsorption foot 7 and the third auxiliary adsorption foot 20, the lower surface of the first sliding block 19 is movably connected with the power execution unit, and the rear end of the second sliding block 12 is fixedly connected with the first auxiliary adsorption foot 14.

[0033] The power execution unit comprises two screw-nut mechanisms 2 and an underwater sealed motor 9. The two screw-nut mechanisms 2 are arranged in parallel and are spaced apart, and are located below the guide rods 15. The left and right ends of the lower surface of the first sliding block 19 are respectively connected to the nuts of the two screw-nut mechanisms 2 through two bearings. The rear end of the screw rod of the screw-nut mechanism 2 is fixedly connected with the underwater sealed motor 9. The underwater sealed motor 9 is used to drive the screw rod to rotate, so as to drive the nut in the screw-nut mechanism 2 to move forward and backward along the screw rod, and in turn drive the first sliding block 19, the second sliding block 12 and the three auxiliary adsorption feet 7, 20 and 14 to move forward and backward.

[0034] The screw-nut mechanism is a common form of mechanical transmission device. The screw-nut mechanism is composed of a screw rod and a corresponding cut nut. The nut is rotatably sleeved on the screw rod along the screw thread, and is used to convert the rotary motion of the motor into linear motion.

[0035] The driven unit further comprises a third sliding block. The left and right ends of the third sliding block are provided with guide holes. The two guide holes of the third sliding block are respectively sleeved on the middle portions of the two guide rods 15. The third sliding block is located between the first sliding block 19 and the second sliding block 12, so that the third sliding block is movably arranged on the guide rods 15 along the axial direction of the guide rods 15. The upper end of the third sliding block is movably connected to the lower surface of the main frame plate 8 through a bearing. The lower end of the third sliding block is movably connected to the secondary frame plate through a bearing.

[0036] In addition, the middle portion of the third sliding block is provided with a through hole for sleeving the sliding block connecting shaft 18.

[0037] The left and right sides of the secondary frame plate are movably connected to the rear ends of the screw rods of the two screw-nut mechanisms 2 through bearings.

[0038] As Figure 4 and Figure 5As shown, the wall-climbing robot comprises six bearings, namely the first bearing 6, the second bearing 3, the third bearing 11, the fourth bearing 16, the fifth bearing 13 and the sixth bearing 5; the outer rings of the first bearing 6 and the second bearing 3 are fixedly connected to the left and right ends of the lower surface of the first sliding block 19 respectively, and the inner rings of the first bearing 6 and the second bearing 3 are fixedly connected to the nuts of the two screw-nut mechanisms 2 respectively, so that the auxiliary adsorption feet connected with the first sliding block 19 can rotate relative to the screw-nut mechanisms 2; the outer rings of the third bearing 11 and the fourth bearing 16 are fixedly connected to the left and right sides of the secondary frame plate respectively, and the inner rings of the third bearing 11 and the fourth bearing 16 are fixedly connected to the rear ends of the leadscrews of the two screw-nut mechanisms 2 respectively, so that the main adsorption feet connected with the secondary frame plate can rotate relative to the screw-nut mechanisms 2; the inner ring and the outer ring of the sixth bearing 5 are connected to the upper end of the third sliding block and the lower surface of the main frame plate 8 respectively, and the inner ring and the outer ring of the fifth bearing 13 are connected to the lower end of the third sliding block and the secondary frame plate respectively, so that the main frame plate 8 of the main adsorption unit can rotate relative to the driven unit / power execution unit, thereby realizing self-adaptive steering of the wall-climbing robot during wall-climbing adsorption.

[0039] The fifth bearing 13 and the sixth bearing 5 are coaxially arranged, and the center of the fifth bearing 13 is the same as the center of the arc-shaped guide rail 1.

[0040] The main adsorption feet and the auxiliary adsorption feet are both suction cups with motors.

[0041] The wall-climbing robot is divided into four parts, namely a main adsorption unit, an auxiliary adsorption unit, a power execution unit and a driven unit. The main adsorption unit is formed by three main adsorption feet (4, 10, 17) and a main frame plate 8, the auxiliary adsorption unit is composed of three auxiliary adsorption feet (7, 14, 20), the driven unit is composed of moving sliding blocks (12, 19) and a sliding block connecting shaft 18, and the adsorption feet of the auxiliary adsorption unit are installed on the sliding blocks 12, 19 to move linearly along the guide rod 15. The power execution unit adopts two identical screw-nut mechanisms 2, and only the movement displacement of the two screw-nut mechanisms needs to be controlled by underwater sealed motors 9, so as to realize straight movement or steering of the whole robot body.

[0042] The robot walking gait planning adopts a common "triangle gait" method, that is, the main adsorption unit and the auxiliary adsorption unit alternately adsorb and climb. When the main adsorption unit is in the adsorption state, the leadscrews connected with the main adsorption unit at the bearings 16, 11 are in a fixed state, and the nuts connected with the auxiliary adsorption unit at the bearings 6, 3 are in a movable state. Conversely, when the auxiliary adsorption unit is in the adsorption state, the nuts are in a fixed state, and the leadscrews are in a movable state. The main adsorption unit and the auxiliary adsorption unit periodically and alternately adsorb, and the non-adsorption unit can be translated along the leadscrew direction through the rotation of the leadscrew. When the rotation speeds of the underwater sealed motors on the two leadscrews are the same, the translational motion of the whole mechanism can be realized.

[0043] The circular arc guide rail 1 mounted on the guide rod 15 is concentric with the bearing 13, and by controlling the speeds of the two underwater sealed motors 9, the direction and speed of the non-adsorption unit in a single cycle can be controlled in a differential manner. When the main adsorption unit is in a non-adsorption state, the underwater sealed motors 9 of the two lead screws rotate by different displacement amounts, and the main adsorption unit will rotate around the rotating bearing 13 in the direction of the lead screw with the larger displacement amount along the circular arc guide rail 1. Subsequently, the secondary adsorption unit is in a non-adsorption state, and the entire unit can also rotate around the bearing 13 by controlling the differential of the motors, and finally the steering of the entire mechanism is realized.

[0044] The above-described specific embodiments further illustrate the purpose, technical solutions and beneficial effects of the present application. It should be understood that the above-described specific embodiments are merely examples of the present application and are not intended to limit the present application. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A wall-climbing robot based on a triangle gait multi-linkage driving type six-legged robot, characterized in that: it comprises a main suction unit, a secondary suction unit, a power execution unit and a driven unit; the main suction unit is composed of a main frame plate (8) and three main suction feet fixedly connected with the main frame plate (8), the secondary suction unit is composed of three secondary suction feet, the power execution unit is connected with the secondary suction unit through the driven unit, the slider in the driven unit can move forward and backward along the axis of the power execution unit, thereby driving the secondary suction unit connected with the slider to move synchronously, and the front end and the rear end of the main suction unit are movably connected with the driven unit and the power execution unit respectively, so that the wall-climbing robot can adaptively turn during the wall-climbing suction process; the secondary suction unit comprises a first secondary suction foot (14), a second secondary suction foot (7) and a third secondary suction foot (20); the main suction unit comprises a main frame plate (8), a secondary frame plate, a first main suction foot (4), a second main suction foot (10) and a third main suction foot (17), the first main suction foot (4) and the first secondary suction foot (14) are respectively located at the front and rear ends of the main frame plate (8), the second secondary suction foot (7) and the third secondary suction foot (20) are symmetrically distributed on the left and right sides of the middle part of the main frame plate (8), the second main suction foot (10) and the third main suction foot (17) are symmetrically distributed on the left and right sides of the middle part of the main frame plate (8), and the second secondary suction foot (7) and the third secondary suction foot (20) are located on the front side of the second main suction foot (10) and the third main suction foot (17), the first main suction foot (4), the second main suction foot (10) and the third main suction foot (17) are fixedly connected with the main frame plate (8), and the secondary frame plate is connected between the second main suction foot (10) and the third main suction foot (17); the driven unit comprises an arc-shaped guide rail (1), two guide rods (15), a first slider (19), a second slider (12) and a slider connecting shaft (18); the arc-shaped guide rail (1) is located below the front end of the main frame plate (8), and the front end of the main frame plate (8) is movably connected on the arc-shaped guide rail (1) along the circumferential direction of the arc-shaped guide rail (1), the two guide rods (15) are arranged in parallel and at intervals, and the front ends of the two guide rods (15) are fixedly connected with the left and right ends of the arc-shaped guide rail (1) respectively; the left and right ends of the first slider (19) and the second slider (12) are provided with guide holes, the two guide holes of the first slider (19) are respectively sleeved on the front parts of the two guide rods (15), and the two guide holes of the second slider (12) are respectively sleeved on the rear parts of the two guide rods (15), so that the first slider (19) and the second slider (12) are movably arranged on the guide rods (15) along the axial direction of the guide rods (15), the first slider (19) and the second slider (12) are fixedly connected through the slider connecting shaft (18), so that the first slider (19) and the second slider (12) move synchronously, and the slider connecting shaft (18) is arranged in parallel with the guide rods (15). ​ The left and right sides of the first sliding block (19) are respectively fixedly connected with a second auxiliary adsorption foot (7) and a third auxiliary adsorption foot (20), and the lower surface of the first sliding block (19) is movably connected with the power execution unit; the rear end of the second sliding block (12) is fixedly connected with a first auxiliary adsorption foot (14); The power execution unit comprises two screw nut mechanisms (2) and an underwater sealed motor (9); the two screw nut mechanisms (2) are arranged in parallel and at intervals, and the screw nut mechanisms (2) are located below the guide rods (15); the left and right ends of the lower surface of the first sliding block (19) are respectively connected with the nuts of the two screw nut mechanisms (2) through bearings; the rear end of the screw of the screw nut mechanism (2) is fixedly connected with the underwater sealed motor (9); the underwater sealed motor (9) is used for driving the screw to rotate, so as to drive the nut in the screw nut mechanism (2) to move forward and backward along the screw, and then drive the first sliding block (19), the second sliding block (12) and the three auxiliary adsorption feet (7, 20, 14) to move forward and backward. The third sliding block is provided with guide holes at the left and right ends, and the two guide holes of the third sliding block are respectively sleeved on the middle portions of the two guide rods (15), so that the third sliding block is movably arranged on the guide rods (15) along the axial direction of the guide rods (15); the upper end of the third sliding block is movably connected with the lower surface of the main frame plate (8) through a bearing; and the lower end of the third sliding block is movably connected with the secondary frame plate through a bearing. The wall-climbing robot comprises six bearings, namely a first bearing (6), a second bearing (3), a third bearing (11), a fourth bearing (16), a fifth bearing (13) and a sixth bearing (5); the outer rings of the first bearing (6) and the second bearing (3) are respectively fixedly connected with the left and right ends of the lower surface of the first sliding block (19); the inner rings of the first bearing (6) and the second bearing (3) are respectively fixedly connected with the nuts of the two screw nut mechanisms (2), so that the auxiliary adsorption feet connected with the first sliding block (19) can rotate relative to the screw nut mechanisms (2); the outer rings of the third bearing (11) and the fourth bearing (16) are respectively fixedly connected with the left and right sides of the secondary frame plate; the inner rings of the third bearing (11) and the fourth bearing (16) are respectively fixedly connected with the rear ends of the screws of the two screw nut mechanisms (2), so that the main adsorption feet connected with the secondary frame plate can rotate relative to the screw nut mechanisms (2); the inner ring and the outer ring of the sixth bearing (5) are respectively connected with the upper end of the third sliding block and the lower surface of the main frame plate (8); and the inner ring and the outer ring of the fifth bearing (13) are respectively connected with the lower end of the third sliding block and the secondary frame plate, so that the main frame plate (8) of the main adsorption unit can rotate relative to the driven unit. The fifth bearing (13) and the sixth bearing (5) are coaxially arranged, and the center of the fifth bearing (13) is the same as the center of the arc-shaped guide rail (1).

2. The wall-climbing robot according to claim 1, wherein: The left and right sides of the secondary frame plate are movably connected with the rear ends of the screws of the two screw nut mechanisms (2) through bearings.

3. The wall-climbing robot according to claim 1, wherein: The main adsorption feet and the auxiliary adsorption feet are all suction discs provided with motors.

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