Wall-climbing robot with self-adaptive transition curved surface

Abstract

The invention provides a wall-climbing robot with a self-adaptive transition curved surface, and relates to the field of robotics.The wall-climbing robot comprises a front driving mechanism, a first-stage steering mechanism, a second-stage follow-up rotating mechanism and a rear driving mechanism, when the robot climbs on a magnetic conductive surface, the first-stage steering mechanism drives the front driving mechanism to conduct steering adjustment, and then the first-stage steering mechanism is used for adjusting the overall running direction of the robot; the front-drive mechanism and the rear-drive mechanism are located at different positions of the magnetic conduction faces respectively, when the magnetic conduction faces are not located on the same face, the front-drive mechanism and the rear-drive mechanism can be perfectly attached to the magnetic conduction faces respectively through the second-stage follow-up rotating mechanism, and the distance between the outer surface of a magnet and the magnetic conduction faces is kept within a reasonable range. Therefore, the robot can realize stable transition and climbing among a vertical surface, a negative surface, a cambered surface, a concave-convex surface and different surfaces, and the robot has good self-adaptive capability on a complex variable-curvature magnetic conductive wall surface and different curved surfaces; the structure is more compact, the stability is higher, and the adaptive capacity is high.

Description

Technical Field

[0001] The invention relates to the field of robots, and in particular to a wall-climbing robot with an adaptive transitional curved surface. Background Art

[0002] The magnetic adsorption wall climbing robot is a special robot used to perform specific operations on magnetic surfaces in multiple scenarios such as vertical, flat, curved, and negative surfaces. This type of robot is often used to carry various execution equipment for various automated operations such as testing, grinding, painting, and welding. It can be widely used in shipping, petrochemical, wind power towers, underwater and other fields, and it solves the problems of high risk factor, high labor intensity, and poor operation continuity when working in these dangerous areas.

[0003] In actual applications of magnetic adsorption wall-climbing robots, many magnetic walls are not single planes or curved surfaces, but extensions of many different wall shapes in space. The magnetic adsorption wall-climbing robots currently on the market have poor flexibility in technical solutions and structures, and can only operate in a single scenario, such as a single scenario such as a facade, plane, curved surface, or a large curvature wall transition scenario. There are great difficulties in transitioning between small curvature scenes or between flat and inclined surfaces, and the robot can only be transferred by manpower or other mechanical devices to assist in the transition between different wall surfaces.

[0004] Existing wall-climbing robots rely on manual handling or other mechanical devices (such as aerial vehicles, robotic arms, etc.) to achieve the transition of robots in small curvature scenes or between flat and inclined surfaces. The cost is very high and the operation is complicated. It has a great impact on the robot's operation period and it is difficult to ensure the continuity of the robot's work. Summary of the invention

[0005] The technical problem to be solved by the present invention is to overcome the deficiencies in the prior art and provide a wall-climbing robot with adaptive transitional curved surfaces, which can achieve smooth transition and climbing between vertical surfaces, negative surfaces, curved surfaces, concave and convex surfaces and different surfaces, so that the robot has good adaptive ability on complex variable curvature magnetic wall surfaces and different curved surfaces; the structure is more compact, the stability is higher, and the adaptability is strong.

[0006] The present invention is achieved through the following technical solutions: A wall-climbing robot with an adaptive transitional curved surface comprises a front drive mechanism, a primary steering mechanism, a secondary follow-up mechanism and a rear drive mechanism. The front drive mechanism and the rear drive mechanism are arranged at the front and rear sides of the robot respectively. The primary steering mechanism drives the front drive mechanism to steer and adjust. The rotation axis of the primary steering mechanism is perpendicular to the central axis of the front drive mechanism. The primary steering mechanism is connected to the secondary follow-up mechanism, and the rotation axis of the primary steering mechanism is perpendicular to the rotation axis of the secondary follow-up mechanism. The rear drive mechanism is connected to the primary steering mechanism through the secondary follow-up mechanism. The rear drive mechanism rotates and adjusts around the rotation axis of the secondary follow-up mechanism. The rotation axis of the secondary follow-up mechanism intersects with the central axis of the front drive mechanism, and the rotation axis of the secondary follow-up mechanism is perpendicular to the central axis of the rear drive mechanism.

[0007] It can be seen that in the above technical solution, when the robot crawls on the magnetic surface, the first-level steering mechanism drives the front-drive mechanism to steer and adjust, which is then used to adjust the overall running direction of the robot, and the front-drive mechanism and the rear-drive mechanism are respectively located at different positions on the magnetic surface. When the magnetic surfaces are not on the same surface, the secondary follow-up mechanism can make the front-drive mechanism and the rear-drive mechanism fit perfectly with the magnetic surface respectively, and keep the distance between the outer surface of the magnet and the magnetic surface within a reasonable range, so that the robot can achieve smooth transition and climbing between the vertical surface, negative surface, curved surface, concave and convex surface and different surfaces, so that the robot has good adaptability on complex variable curvature magnetic wall surfaces and different curved surfaces; the climbing robot of this patent has a more compact structure, higher stability and strong adaptability.

[0008] According to the above technical solution, preferably, the front drive mechanism includes a left drive wheel, a right drive wheel, a drive housing, a transmission shaft, a hollow drive motor and a magnet. The left drive wheel and the right drive wheel are arranged in a left-right symmetrical structure. The transmission shaft and the hollow drive motor are arranged in the drive housing, and the magnet is arranged on the drive housing. The hollow drive motor drives the left drive wheel, and the left drive wheel drives the right drive wheel to rotate synchronously through the transmission shaft passing through the hollow drive motor.

[0009] According to the above technical solution, preferably, the front drive mechanism also includes an adapter sleeve, a nut, a flat key, a shell end cover, a first bearing and a shaft end retaining ring for the hole, the first output shaft of the hollow drive motor is coaxially fixedly connected to the left drive wheel, the left drive wheel is coaxially fixedly connected to the adapter sleeve, the adapter sleeve is coaxially fixedly connected to the drive shaft through a flat key, the nut is fixedly connected to the drive shaft, the shell end cover is fixedly connected to the drive shell, the first bearing is fixed on the shell end cover, the hole shaft end retaining ring is installed on the shell end cover, the drive shaft passes through the hollow drive motor and the inner hole of the first bearing, and the end of the drive shaft is coaxially fixedly connected to the right drive wheel.

[0010] According to the above technical solution, preferably, the internal driving structure and operation mode of the rear drive mechanism are the same as those of the front drive mechanism.

[0011] It can be seen that in the above technical solution, since the internal driving structure and operation mode of the rear drive mechanism and the front drive mechanism are the same, the robot has both front and rear drive functions.

[0012] According to the above technical solution, preferably, the magnet is in an arc structure that wraps around the bottom surface and side surfaces of the driving housing.

[0013] It can be seen that in the above technical scheme, the wall-climbing robot of this patent is respectively provided with magnets on the front drive mechanism and the rear drive mechanism, and the magnets are in an arc structure that wraps the bottom and side surfaces of the driving shell, and the suction range can cover the bottom of the robot, the front of the robot and the front of the rear end of the robot. When the robot's moving direction is parallel to the magnetic wall, the range covered by the magnet at the bottom of the robot plays an adsorption role on the magnetic wall; when the robot's moving direction is perpendicular to the magnetic wall, the range covered by the magnet at the front of the robot plays an adsorption role on the magnetic wall, so the robot's forward direction can achieve a climbing transition to a 90° right angle through the coverage of the magnet; and when the robot's backward direction is parallel to the magnetic wall, the range covered by the magnet at the bottom of the robot plays an adsorption role on the magnetic wall; when the robot's backward direction is perpendicular to the magnetic wall, the range covered by the magnet at the front of the robot's rear end plays an adsorption role on the magnetic wall, so the robot's backward direction can achieve a climbing transition to a 90° right angle through the coverage of the magnet.

[0014] According to the above technical scheme, preferably, the first-level steering mechanism includes an adapter, a second output shaft, a fixed seat, a steering motor, a lighting lamp, a light fixing frame, a pan-tilt and a pan-tilt seat, the steering motor is fixed on the fixed seat, the output end of the steering motor is coaxially fixedly connected to the second output shaft, the second output shaft is fixedly connected to the adapter, the adapter is fixedly connected to the drive housing, the steering motor drives the front drive mechanism to rotate, so as to realize the steering operation of the robot, the lighting lamp is fixed on the light fixing frame, the light fixing frame and the pan-tilt are respectively fixedly connected to the pan-tilt seat, the pan-tilt seat is coaxially fixedly connected to the second output shaft of the steering motor passing through the hollow, so as to realize the lighting lamp and the pan-tilt to steer along with the front drive mechanism.

[0015] According to the above technical scheme, preferably, the secondary follow-up mechanism includes a follow-up shaft, a bearing outer ring end cover, a second bearing, a bearing seat, a bearing inner ring end cover, a shaft end nut and a follow-up seat, the second bearing is installed in the bearing seat, the bearing outer ring end cover is connected to the bearing seat, and is used to press and fix the bearing outer ring inside the bearing seat, the follow-up shaft passes through the second bearing inner ring, the shaft shoulder fits with the second bearing inner ring, and the other end fits with the bearing inner ring end cover, the other side of the bearing inner ring end cover is fixed to the axial direction of the second bearing through the shaft end nut, the bearing seat is fixed to the follow-up seat, the follow-up seat is vertically fixedly connected to the fixed seat in the primary steering mechanism, and the end of the follow-up shaft is fixedly connected to the rear drive mechanism.

[0016] According to the above technical solution, preferably, it also includes a control mechanism, which is arranged on the primary steering mechanism and is electrically connected to the front drive mechanism, the primary steering mechanism and the rear drive mechanism.

[0017] According to the above technical solution, preferably, the control mechanism includes a control box, a control box cover, a wire nozzle, an antenna, a switch and a charging plug. The control mechanism is the control center of the entire robot and controls the operation of the robot. The robot control elements are installed inside the control box. The cables between the control elements inside the control box and the peripheral electrical parts are connected through the wire nozzle. The control box cover is connected to the control box, and the antenna, switch and charging plug are respectively connected to the control box.

[0018] The beneficial effects of the present invention are: (1) The wall-climbing robot of this patent is provided with magnets on the front drive mechanism and the rear drive mechanism respectively. The magnets are in an arc structure and wrap around the bottom and side surfaces of the driving shell. The suction range can cover the bottom of the robot, the front of the front end of the robot and the front of the rear end of the robot. When the robot's moving direction is parallel to the magnetic wall surface, the range covered by the magnet at the bottom of the robot plays an adsorption role on the magnetic wall surface; when the robot's moving direction is perpendicular to the magnetic wall surface, the range covered by the magnet at the front of the robot plays an adsorption role on the magnetic wall surface. Therefore, the coverage range of the magnet can realize the robot's forward direction to a 90° right angle climbing transition; and when the robot's backward direction is parallel to the magnetic wall surface, the range covered by the magnet at the bottom of the robot plays an adsorption role on the magnetic wall surface; when the robot's backward direction is perpendicular to the magnetic wall surface, the range covered by the magnet at the front of the rear end of the robot plays an adsorption role on the magnetic wall surface. Therefore, the coverage range of the magnet can realize the robot's backward direction to a 90° right angle climbing transition; (2) When the robot crawls on the magnetic surface, the primary steering mechanism drives the front drive mechanism to adjust the steering direction, which is then used to adjust the overall running direction of the robot. The front drive mechanism and the rear drive mechanism are located at different positions on the magnetic surface. When the magnetic surfaces are not on the same surface, the secondary follow-up mechanism can make the front drive mechanism and the rear drive mechanism fit perfectly with the magnetic surface respectively, keeping the distance between the outer surface of the magnet and the magnetic surface within a reasonable range, so that the robot can achieve smooth transition and climbing between vertical surfaces, negative surfaces, curved surfaces, concave and convex surfaces and different surfaces, so that the robot has good adaptive ability on complex variable curvature magnetic walls and different curved surfaces; (3) The climbing robot of this patent has a more compact structure, higher stability and stronger adaptability. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 An isometric structural diagram of the present invention is shown; Figure 2 A schematic cross-sectional structure diagram of the front drive mechanism of the present invention is shown; Figure 3 The isometric structural diagram of the primary steering mechanism of the present invention is shown; Figure 4 A cross-sectional structural schematic diagram of the secondary follow-up rotation mechanism in the present invention is shown; Figure 5 The isometric structural diagram of the rear drive mechanism of the present invention is shown; Figure 6 The isometric structural diagram of the control mechanism of the present invention is shown; Figure 7 Another isometric structural diagram of the control mechanism of the present invention is shown; Description of reference numerals: 1. Front drive mechanism; 2. First-stage steering mechanism; 3. Control mechanism; 4. Second-stage follow-up mechanism; 5. Rear drive mechanism; 6. Left drive wheel; 7. Drive housing; 8. Right drive wheel; 9. Adapter sleeve; 10. Transmission shaft; 11. Nut; 12. Flat key; 13. Hollow drive motor; 14. Magnet; 15. Wrench; 16. Housing end cover; 17. First bearing; 18. Shaft end retaining ring for hole; 19. Adapter seat; 20. Second Output shaft; 21. Fixed seat; 22. Steering motor; 23. Light; 24. Light fixing bracket; 25. PTZ; 26. PTZ seat; 27. Control box; 28. Control box cover; 29. ​​Wire nozzle; 30. Antenna; 31. Switch; 32. Charging plug; 33. Rotating shaft; 34. Bearing outer ring end cover; 35. Second bearing; 36. Bearing seat; 37. Bearing inner ring end cover; 38. Shaft end nut; 39. Rotating seat. DETAILED DESCRIPTION

[0020] In order to enable those skilled in the art to better understand the technical solution of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and the best embodiment. Based on the embodiments in the invention, all other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the invention.

[0021] In the description of the invention, it should be noted that the terms "center", "up", "down", "left", "right", "vertical", "horizontal", "inside" and "outside" etc. indicating directions or positional relationships are based on the directions or positional relationships shown in the accompanying drawings. They are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific direction, be constructed and operated in a specific direction. Therefore, they cannot be understood as limitations on the invention.

[0022] like Figure 1-Figure 7As shown, the present embodiment provides a wall-climbing robot with an adaptive transitional surface, comprising a front-drive mechanism 1, a primary steering mechanism 2, a secondary follow-up mechanism 4, a rear-drive mechanism 5 and a control mechanism 3. The front-drive mechanism 1 and the rear-drive mechanism 5 are arranged on the front and rear sides of the robot respectively. The primary steering mechanism 2 drives the front-drive mechanism 1 to steer and adjust. The rotation axis of the primary steering mechanism 2 is perpendicular to the central axis of the front-drive mechanism 1. The primary steering mechanism 2 is connected to the secondary follow-up mechanism 4, and the rotation axis of the primary steering mechanism 2 is perpendicular to the rotation axis of the secondary follow-up mechanism 4. The rear-drive mechanism 5 is connected to the primary steering mechanism 2 through the secondary follow-up mechanism 4. The rear-drive mechanism 5 is rotated and adjusted around the rotation axis of the secondary follow-up mechanism 4. The rotation of the secondary follow-up mechanism 4 The driving axis intersects with the central axis of the front drive mechanism 1, and the rotation axis of the secondary follower mechanism 4 is perpendicular to the central axis of the rear drive mechanism 5; wherein the front drive mechanism 1 includes a left drive wheel 6, a right drive wheel 8, a drive housing 7, a transmission shaft 10, a hollow drive motor 13 and a magnet 14, the left drive wheel 6 and the right drive wheel 8 are arranged in a left-right symmetrical structure, the transmission shaft 10 and the hollow drive motor 13 are arranged in the drive housing 7, the magnet 14 is arranged on the drive housing 7, the hollow drive motor 13 drives the left drive wheel 6, and the left drive wheel 6 drives the right drive wheel 8 to rotate synchronously through the transmission shaft 10 passing through the hollow drive motor 13; and the primary steering mechanism 2 includes an adapter seat 19, a second output shaft 20, a fixing seat 21, a steering motor 22, and a lighting lamp 2 3. A light fixing frame 24, a pan-tilt platform 25 and a pan-tilt platform seat 26. The steering motor 22 is fixed on the fixing seat 21. The output end of the steering motor 22 is coaxially fixedly connected with the second output shaft 20. The second output shaft 20 is fixedly connected with the adapter seat 19. The adapter seat 19 is fixedly connected with the driving housing. The steering motor 22 drives the front drive mechanism 1 to rotate to realize the steering operation of the robot. The lighting lamp 23 is fixed on the light fixing frame 24. The light fixing frame 24 and the pan-tilt platform 25 are respectively fixedly connected with the pan-tilt platform seat 26. The pan-tilt platform seat 26 is coaxially fixedly connected with the second output shaft 20 of the steering motor 22 passing through the hollow, thereby realizing that the lighting lamp 23 and the pan-tilt platform 25 are turned with the front drive mechanism 1. In addition, the secondary following rotation mechanism 4 includes a following rotation shaft 33 and a bearing The outer ring end cover 34, the second bearing 35, the bearing seat 36, the bearing inner ring end cover 37, the shaft end nut 38 and the rotating seat 39, the second bearing 35 is installed in the bearing seat 36, the bearing outer ring end cover 34 is connected to the bearing seat 36, and is used to press and fix the outer ring of the second bearing 35 inside the bearing seat 36, the rotating shaft 33 passes through the inner ring of the bearing, the shaft shoulder is in contact with the inner ring of the second bearing 35, and the other end is in contact with the bearing inner ring end cover 37, the other side of the bearing inner ring end cover 37 is fixed to the axial direction of the second bearing 35 by the shaft end nut 38, the bearing seat 36 is fixed to the rotating seat 39, the rotating seat 39 is vertically fixedly connected to the fixed seat 21 in the primary steering mechanism 2, and the end of the rotating shaft 33 is fixedly connected to the rear drive mechanism 5;The control mechanism 3 is arranged on the primary steering mechanism 2, and the control mechanism 3 is electrically connected to the front drive mechanism 1, the primary steering mechanism 2 and the rear drive mechanism 5. ;

[0023] When the robot crawls on the magnetic surface, the first-level steering mechanism 2 drives the front-drive mechanism 1 to steer and adjust, thereby adjusting the overall running direction of the robot. The front-drive mechanism 1 and the rear-drive mechanism 5 are located at different positions on the magnetic surface. When the magnetic surfaces are not on the same surface, the second-level follow-up mechanism 4 can make the front-drive mechanism 1 and the rear-drive mechanism 5 fit perfectly with the magnetic surface respectively, and keep the distance between the outer surface of the magnet 14 and the magnetic surface within a reasonable range, so that the robot can achieve smooth transition and climbing between the vertical surface, negative surface, curved surface, concave and convex surface and different surfaces, so that the robot has good adaptability on complex variable curvature magnetic wall surfaces and different curved surfaces; the climbing robot of the present patent has a more compact structure, higher stability and strong adaptability.

[0024] Optionally, in a possible embodiment, the front drive mechanism 1 also includes an adapter sleeve 9, a nut 11, a protective cover, a flat key 12, a shell end cover 16, a first bearing 17, a hole shaft end retaining ring 18 and a wrench 15, the first output shaft of the hollow drive motor 13 is coaxially fixedly connected to the left drive wheel 6, the left drive wheel 6 is coaxially fixedly connected to the adapter sleeve 9, the adapter sleeve 9 is coaxially fixedly connected to the transmission shaft 10 through the flat key 12, the nut 11 is fixedly connected to the transmission shaft 10, the shell end cover 16 is fixedly connected to the drive shell 7, the first bearing 17 is fixed on the shell end cover 16, the hole shaft end retaining ring 18 is installed on the shell end cover 16, the drive shaft 10 passes through the hollow drive motor 13 and the inner hole of the first bearing 17, the end of the drive shaft 10 is coaxially fixedly connected to the right drive wheel 8, and the wrench 15 is fixedly connected to the drive shell 7.

[0025] Optionally, in a possible implementation, the rear-drive mechanism 5 has the same internal drive structure and operation mode as the front-drive mechanism 1, so that the robot has both front and rear drive functions.

[0026] Optionally, in a possible embodiment, the magnet 14 is in an arc structure that wraps around the bottom and side surfaces of the driving housing 7. The wall-climbing robot of this patent is provided with magnets 14 on the front drive mechanism 1 and the rear drive mechanism 5, respectively. The magnet 14 is in an arc structure that wraps around the bottom and side surfaces of the driving housing 7. The suction range can cover the bottom of the robot, the front of the robot front end, and the front of the robot tail end. When the robot's moving direction is parallel to the magnetic conductive wall, the range covered by the magnet 14 at the bottom of the robot plays an adsorption role on the magnetic conductive wall; when the robot's moving direction is perpendicular to the magnetic conductive wall, the magnet 14 can be used to attract the robot's magnetic conductive wall. The range covered by the magnet 14 on the front of the robot plays an adsorption role on the magnetic wall surface, so that the robot's forward direction can achieve a 90° right-angle climbing transition through the coverage of the magnet 14; and when the robot's backward direction is parallel to the magnetic wall surface, the range covered by the magnet 14 on the bottom of the robot plays an adsorption role on the magnetic wall surface; when the robot's backward direction is perpendicular to the magnetic wall surface, the range covered by the magnet 14 on the front of the robot's tail end plays an adsorption role on the magnetic wall surface, so the robot's backward direction can achieve a 90° right-angle climbing transition through the coverage of the magnet 14.

[0027] Optionally, in a possible embodiment, the control mechanism 3 includes a control box 27, a control box cover 28, a wire nozzle 29, an antenna 30, a switch 31 and a charging plug 32. The control mechanism 3 is the control center of the entire robot and controls the operation of the robot. The robot control elements are installed inside the control box 27. The cables of the control elements inside the control box 27 and the peripheral electrical components are connected through the wire nozzle 29. The control box cover 28 is connected to the control box 27, and the antenna 30, the switch 31 and the charging plug 32 are respectively connected to the control box 27.

[0028] Obviously, the above embodiments are merely examples for the purpose of clear explanation, and are not intended to limit the implementation methods. For those skilled in the art, other different forms of changes or modifications can be made based on the above description. It is not necessary and impossible to list all the implementation methods here. The obvious changes or modifications derived therefrom are still within the scope of protection of the invention.

Claims

1. A wall-climbing robot with adaptive transitional surface, characterized in that: The robot comprises a front drive mechanism, a primary steering mechanism, a secondary follow-up mechanism and a rear drive mechanism, wherein the front drive mechanism and the rear drive mechanism are respectively arranged at the front and rear sides of the robot, the primary steering mechanism drives the front drive mechanism to steer and adjust, the rotation axis of the primary steering mechanism is perpendicular to the central axis of the front drive mechanism, the primary steering mechanism is connected to the secondary follow-up mechanism, and the rotation axis of the primary steering mechanism is perpendicular to the rotation axis of the secondary follow-up mechanism, the rear drive mechanism is connected to the primary steering mechanism through the secondary follow-up mechanism, the rear drive mechanism rotates and adjusts around the rotation axis of the secondary follow-up mechanism, the rotation axis of the secondary follow-up mechanism intersects with the central axis of the front drive mechanism, and the rotation axis of the secondary follow-up mechanism is perpendicular to the central axis of the rear drive mechanism.

2. The wall-climbing robot with adaptive transitional surface according to claim 1, characterized in that: The front drive mechanism includes a left drive wheel, a right drive wheel, a drive housing, a transmission shaft, a hollow drive motor and a magnet. The left drive wheel and the right drive wheel are arranged in a left-right symmetrical structure. The transmission shaft and the hollow drive motor are arranged in the drive housing, and the magnet is arranged on the drive housing. The hollow drive motor drives the left drive wheel, and the left drive wheel drives the right drive wheel to rotate synchronously through the transmission shaft passing through the hollow drive motor.

3. The wall-climbing robot with adaptive transitional surface according to claim 2, characterized in that: The front drive mechanism also includes an adapter sleeve, a nut, a flat key, a shell end cover, a first bearing and a shaft end retaining ring for a hole. The first output shaft of the hollow drive motor is coaxially fixedly connected to the left drive wheel, the left drive wheel is coaxially fixedly connected to the adapter sleeve, the adapter sleeve is coaxially fixedly connected to the transmission shaft through a flat key, the nut is fixedly connected to the transmission shaft, the shell end cover is fixedly connected to the drive shell, the first bearing is fixed on the shell end cover, the hole shaft end retaining ring is installed on the shell end cover, the transmission shaft passes through the hollow drive motor and the inner hole of the first bearing, and the end of the transmission shaft is coaxially fixedly connected to the right drive wheel.

4. The wall-climbing robot with adaptive transitional surface according to claim 3, characterized in that: The rear drive mechanism has the same internal drive structure and operation mode as the front drive mechanism.

5. The wall-climbing robot with adaptive transitional surface according to claim 4, characterized in that: The magnet is in an arc structure and wraps around the bottom surface and side surfaces of the driving housing.

6. A wall-climbing robot with adaptive transitional surface according to any one of claims 2 to 5, characterized in that: The primary steering mechanism includes an adapter, a second output shaft, a fixed seat, a steering motor, a lighting lamp, a light fixing frame, a pan-tilt and a pan-tilt seat. The steering motor is fixed on the fixed seat. The output end of the steering motor is coaxially and fixedly connected with the second output shaft. The second output shaft is fixedly connected to the adapter. The adapter is fixedly connected to the drive housing. The steering motor drives the front drive mechanism to rotate to realize the steering operation of the robot. The lighting lamp is fixed on the light fixing frame. The light fixing frame and the pan-tilt are respectively fixedly connected to the pan-tilt seat. The pan-tilt seat is coaxially and fixedly connected with the second output shaft of the steering motor passing through the hollow body to realize the steering of the lighting lamp and the pan-tilt as the front drive mechanism turns.

7. The wall-climbing robot with adaptive transitional surface according to claim 6, characterized in that: The secondary follow-up mechanism includes a follow-up shaft, a bearing outer ring end cover, a second bearing, a bearing seat, a bearing inner ring end cover, a shaft end nut and a follow-up seat. The second bearing is installed in the bearing seat. The bearing outer ring end cover is connected to the bearing seat and is used to press and fix the second bearing outer ring inside the bearing seat. The follow-up shaft passes through the second bearing inner ring, and the shaft shoulder fits with the second bearing inner ring, and the other end fits with the bearing inner ring end cover. The other side of the bearing inner ring end cover is fixed to the second bearing in the axial direction through the shaft end nut. The bearing seat is fixed to the follow-up seat, and the follow-up seat is vertically fixedly connected to the fixed seat in the primary steering mechanism. The end of the follow-up shaft is fixedly connected to the rear drive mechanism.

8. The wall-climbing robot with adaptive transitional surface according to claim 1, characterized in that: It also includes a control mechanism, which is arranged on the primary steering mechanism and is electrically connected to the front drive mechanism, the primary steering mechanism and the rear drive mechanism.

9. The wall-climbing robot with adaptive transitional surface according to claim 8, characterized in that: The control mechanism includes a control box, a control box cover, a wire nozzle, an antenna, a switch and a charging plug. The control mechanism is the control center of the entire robot and controls the operation of the robot. The robot control elements are installed inside the control box. The cables between the control elements inside the control box and the peripheral electrical parts are connected through the wire nozzle. The control box cover is connected to the control box, and the antenna, switch and charging plug are respectively connected to the control box.

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