Wall-climbing robot

Abstract

The invention relates to the technical field of robots, in particular to a wall-climbing robot which comprises a first foot and a second foot. The first foot part and the second foot part are connected through a plurality of connecting structural parts which are connected in series; the adjacent connecting structural members are linked through the joint driving modules; the first foot part and the second foot part are respectively provided with a negative pressure sucking disc for adsorbing a wall surface; the system further comprises a sub-cleaning robot. Wherein one foot part is adsorbed on a wall surface through the negative pressure suction cup, and the other foot part is driven to move on the wall surface through the connecting structural part and the joint driving module, so that the sub-cleaning robot can work on the wall surface along a moving path. According to the robot, the sub-cleaning robot is used for cleaning, maintaining and detecting the wall surface, the robot has excellent obstacle crossing ability, and the complex wall surface can be safely and efficiently operated.

Description

Technical Field

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

[0002] As the height of modern buildings and the complexity of their facade structures increase, traditional manual cleaning faces many challenges, such as the danger of high-altitude operations, increased labor costs, and limited cleaning efficiency. In order to meet the cleaning needs of high-altitude walls, various manufacturers have gradually focused on how to use wall-climbing machines to replace manual high-altitude operations. At present, most high-rise buildings have exoskeletons installed on their facades, but the wheeled or tracked wall-climbing robots provided by existing technologies have poor ability to cross exoskeleton obstacles while moving, are not suitable for complex working environments, and cannot achieve efficient and safe high-altitude operations. Summary of the invention

[0003] The purpose of the present application is to provide a wall-climbing robot that utilizes a sub-cleaning robot to clean, maintain and inspect walls. The robot has excellent obstacle-crossing capabilities and can operate on complex walls safely and efficiently.

[0004] The embodiment of the present application is implemented as follows:

[0005] The embodiment of the present application provides a wall-climbing robot, including a first foot and a second foot; the first foot and the second foot are connected by a plurality of connecting structures arranged in series; adjacent connecting structures are linked by a joint drive module; the first foot and the second foot are respectively provided with negative pressure suction cups for adsorbing the wall; and a sub-cleaning robot is also provided; wherein one foot is adsorbed on the wall by the negative pressure suction cup, and the other foot is driven to move on the wall by the connecting structure and the joint drive module, so that the sub-cleaning robot can operate on the wall along a moving path. As an optional embodiment, the sub-cleaning robot is detachably connected to the connecting structure; a moving module and an adsorption module are provided on the sub-cleaning robot, and the sub-cleaning robot is separated from the connecting structure, and the sub-cleaning robot can be adsorbed on the wall by the adsorption module, and can move on the wall by the moving module.

[0006] As an optional implementation, the sub-cleaning robot has a first contact surface on the side facing away from the wall; an electromagnet module is provided on the connecting structure, and the electromagnet module has a second contact surface; the electromagnet module is energized to generate electromagnetic force and cause the first contact surface to abut against the second contact surface.

[0007] As an optional implementation, the sub-cleaning robot is arranged on the first foot and / or the second foot.

[0008] As an optional implementation, the connecting structure has a first end and a second end, and the rotation axis of the joint driving module at the first end intersects perpendicularly with the rotation axis of the joint driving module at the second end.

[0009] As an optional implementation, the connecting structure is an L-shaped structure; a sleeve is provided at the first end and the second end of the L-shaped structure respectively, and the joint driving module is installed in the sleeve.

[0010] As an optional implementation, the first foot and the second foot are respectively provided with a depth camera for detecting the external environment. The depth camera can sense obstacles in the environment and the position of the sub-cleaning robot on the wall.

[0011] As an optional implementation, the negative pressure suction cup is provided with an air pipe for connecting to an external vacuum generator, and the air pipe is provided with an air pressure sensor, which is used to detect the air pressure inside the negative pressure suction cup.

[0012] As an optional implementation, a flange is provided on the negative pressure suction cup, and the connecting structure is connected to the flange through a joint driving module.

[0013] As an optional implementation, a connecting arm extending in the radial direction is provided on the flange; the sub-cleaning robot is connected to the connecting arm.

[0014] The beneficial effects of the embodiments of the present application include:

[0015] The wall-climbing robot provided in the embodiment of the present application includes a first foot and a second foot. The first foot and the second foot of the embodiment of the present application are connected by a plurality of connecting structures arranged in series, wherein two adjacent connecting structures are linked by a joint drive module. The embodiment of the present application forms a bipedal walking device by connecting the structural members and the joint drive module, which can realize bipedal bionic walking. Therefore, it has a strong obstacle climbing ability. The first foot and the second foot of the embodiment of the present application are respectively provided with negative pressure suction cups for adsorbing the wall, and the negative pressure suction cups enable the entire device to be attached to the wall and can walk according to the planned path. The embodiment of the present application also includes a sub-cleaning robot; wherein, one foot is adsorbed on the wall by the negative pressure suction cup, and the other foot is driven to move on the wall by the connecting structure and the joint drive module, so that the sub-cleaning robot can operate on the wall along the moving path. The sub-cleaning robot can clean the wall along the moving path, or realize detection and maintenance operations. Compared with the prior art, the embodiment of the present application has higher flexibility and stability, can ensure that the entire device is effectively attached to the wall, and can safely and efficiently detect and maintain complex walls. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the embodiments will be briefly introduced below. It should be understood that the following drawings only show certain embodiments of the present application and therefore should not be regarded as limiting the scope. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0017] Figure 1 This is one of the structural schematic diagrams of the wall-climbing robot according to an embodiment of the present application;

[0018] Figure 2 This is the second structural schematic diagram of the wall-climbing robot according to an embodiment of the present application;

[0019] Figure 3 This is the third structural diagram of the wall-climbing robot according to an embodiment of the present application;

[0020] Figure 4 This is the fourth structural diagram of the wall-climbing robot according to an embodiment of the present application;

[0021] Figure 5 This is the fifth structural diagram of the wall-climbing robot according to the embodiment of the present application;

[0022] Figure 6 This is the sixth structural schematic diagram of the wall-climbing robot according to the embodiment of the present application.

[0023] Icons: 100-wall-climbing robot; 101-first foot; 102-second foot; 103-connecting structure; 104-joint drive module; 105-negative pressure suction cup; 106-sub-cleaning robot; 107-first contact surface; 108-electromagnet module; 109-second contact surface; 110-first end; 111-second end; 112-depth camera; 113-trachea; 114-air pressure sensor; 115-flange; 116-connecting arm. DETAILED DESCRIPTION

[0024] In order to make the purpose, technical solution and advantages of the embodiments of the present application clearer, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, rather than all the embodiments. The components of the embodiments of the present application described and shown in the drawings here can be arranged and designed in various different configurations.

[0025] Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application for which protection is sought, but merely represents selected embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the field without creative work are within the scope of protection of the present application.

[0026] It should be noted that similar reference numerals and letters represent similar items in the following drawings, so once an item is defined in one drawing, it does not need to be further defined and explained in the subsequent drawings. In addition, the terms "first", "second", "third", etc. are only used to distinguish the description and cannot be understood as indicating or implying relative importance.

[0027] In the description of this application, it should also be noted that, unless otherwise clearly specified and limited, the terms "set", "install", "connect", and "connect" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two elements. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0028] As the height of modern buildings and the complexity of facade structures increase, traditional manual cleaning faces many challenges, such as the danger of high-altitude operations, increased labor costs, and limited cleaning efficiency. In order to meet the cleaning needs of high-altitude walls, various manufacturers have gradually focused on how to use wall-climbing machines to replace manual high-altitude operations. At present, most high-rise building facades are equipped with exoskeletons, but the existing technology has poor ability to cross exoskeleton obstacles, is not suitable for complex working environments, and cannot achieve efficient and safe high-altitude operations.

[0029] In order to solve the above technical problems, an embodiment of the present application provides a wall-climbing robot 100.

[0030] Reference Figure 1 , Figure 3 As shown, an embodiment of the present application provides a wall-climbing robot 100, including a first foot 101 and a second foot 102; the first foot 101 and the second foot 102 are connected by a plurality of connecting structures 103 arranged in series; adjacent connecting structures 103 are linked by a joint driving module 104; the first foot 101 and the second foot 102 are respectively provided with a negative pressure suction cup 105 for adsorbing the wall; and also includes a sub-cleaning robot 106; the first foot 101 and the second foot 102 drive the sub-cleaning robot 106 to move on the wall through the negative pressure suction cup 105, and the sub-cleaning robot 106 can perform operations along the moving path.

[0031] It should be noted that the wall-climbing robot 100 of the embodiment of the present application includes a plurality of connecting structures 103, and the plurality of connecting structures 103 are connected by or provided with a joint driving module 104. The connection point of two adjacent connecting structures 103 forms a revolute joint through the joint driving module 104.

[0032] The number of the joint driving modules 104 and the connecting structure 103 can be set by those skilled in the art according to the needs, and there is no special limitation on this. The driving joint module can adopt a servo motor or other driving motor.

[0033] Reference Figure 1 , Figure 3 As shown, exemplarily, six connecting structures 103 and seven joint driving modules 104 are included.

[0034] Five rotation joints are formed between the six connecting structures 103, and a driving joint module is arranged at each rotation joint. In addition, two driving joint modules are respectively connected to the negative pressure suction cup 105 and the connecting structure 103, so that the negative pressure suction cup 105 can be driven to rotate.

[0035] Exemplarily, it includes six connecting structures 103 and five driving joint modules.

[0036] Five rotation joints are formed between the six connecting structures 103 , and a driving joint module is arranged at each rotation joint. The negative pressure suction cups 105 at the first foot 101 and the second foot 102 are directly connected to the connecting structure 103 .

[0037] Exemplarily, it includes five connecting structures 103 and six driving joint modules.

[0038] Four rotating joints are formed between the five connecting structures 103, and a driving joint module is arranged at each rotating joint. In addition, two driving joint modules respectively connect the negative pressure suction cup 105 of the sub-cleaning robot 106 with the connecting structure 103, so that the negative pressure suction cup 105 can be driven to rotate.

[0039] It should be noted that more connecting structures 103 may be provided as required, such as seven connecting structures 103 or eight connecting structures 103 , or fewer connecting structures 103 may be provided, such as four or three connecting structures 103 .

[0040] Specifically, refer to Figure 1 , Figure 3 As shown, the connecting structure 103 has a first end 110 and a second end 111 , and the rotation axis of the joint driving module 104 at the first end 110 is perpendicularly intersected with the rotation axis of the joint driving module 104 at the second end 111 .

[0041] It should be noted that, in the embodiment of the present application, a multi-axis robot is formed by connecting the structural member 103 and the joint drive module 104 in series, wherein the rotation axes of two adjacent stick drive modules are arranged perpendicular to each other, forming a bionic inchworm.

[0042] The wall-climbing robot 100 provided in the embodiment of the present application has a wall-climbing method of flipping, twisting, and inchworm-like movement. The wall-climbing robot 100 provided in the present application can achieve stable movement on the walls and windows of the exoskeleton structure through precise motion planning and control of the negative pressure suction cup 105. Different wall-climbing methods can be selected to overcome obstacles according to different environments.

[0043] It should be noted that the embodiment of the present application has a strong load movement capability and can carry the sub-cleaning robot 106 to efficiently maintain and clean the walls and windows. When performing specific treatment on the walls or windows, it is only necessary to replace the sub-cleaning robot 106 with corresponding functions to achieve the corresponding operation. The sub-cleaning robot 106 can also be used for high-altitude inspection and maintenance operations as needed.

[0044] It should be noted that the sub-cleaning robot 106 can be a cleaning robot or a detection robot, etc.

[0045] Cleaning robots can operate by brushing, high-pressure water jet cleaning, ultrasonic cleaning, chemical cleaning and other methods. Among them, brushing cleaning: using a rotating brush head to physically rub and clean the wall surface, which is suitable for removing dust and stains on the surface. This method has a wide range of applications, but has limited effect on stubborn stains. High-pressure water jet cleaning: by impacting the wall surface with high-pressure water flow, stubborn stains and pollutants can be effectively removed. However, high-pressure water flow may damage the wall surface, and the use and recycling of water resources need to be considered. Ultrasonic cleaning: using the tiny bubble bursting effect generated by ultrasonic vibration to clean the wall surface. This technology can remove tiny particles and stains, but it requires high equipment precision. Chemical cleaning: by spraying detergent and then wiping or rinsing, it is suitable for removing specific stains. However, the use of chemical cleaners may bring environmental pollution problems. The cleaning of glass exterior walls is currently mainly focused on brushing and some chemical cleaning.

[0046] In addition, the wall-climbing robot 100 provided in the embodiment of the present application can be used to operate on the inner wall or outer wall of the pipeline as needed. It is safe and reliable, has a wide range of uses, and can achieve efficient operation in complex environments.

[0047] Reference Figure 1 As shown, the wall-climbing robot 100 provided in the embodiment of the present application includes a first foot 101 and a second foot 102. The first foot 101 and the second foot 102 of the embodiment of the present application are connected by a plurality of connecting structures 103 arranged in series, wherein two adjacent connecting structures 103 are linked by a joint driving module 104.

[0048] The embodiment of the present application forms a biped walking device by connecting the structural member 103 and the joint driving module 104, so as to realize bipedal bionic walking, and thus has a strong obstacle climbing capability.

[0049] The first foot 101 and the second foot 102 of the embodiment of the present application are respectively provided with a negative pressure suction cup 105 for adsorbing the wall. The negative pressure suction cup 105 enables the entire device to be attached to the wall and to walk according to the planned path.

[0050] The embodiment of the present application also includes a sub-cleaning robot 106; the first foot 101 and the second foot 102 drive the sub-cleaning robot 106 to move on the wall surface through the negative pressure suction cup 105, and the sub-cleaning robot 106 can clean the wall surface along the moving path. Compared with the prior art, the embodiment of the present application has higher flexibility and stability, can ensure that the entire device is effectively attached to the wall surface, and can safely and efficiently detect and maintain complex wall surfaces.

[0051] It should be noted that, refer to Figure 4 , Figure 5 as well as Figure 6 As shown, the friction force generated by a single negative pressure suction cup 105 on the wall can balance the gravity of the wall-climbing robot 100. During the movement, the first negative pressure suction cup 105 is adsorbed to the wall through negative pressure, and generates friction to balance the gravity of the wall-climbing robot 100. The second negative pressure suction cup 105 is separated from the wall, and the multiple joint driving modules 104 rotate, and drive the second negative pressure suction cup 105 through the connecting structure 103 to achieve the first step of movement. The second negative pressure suction cup 105 contacts the wall and adsorbs. At this time, the distance between the first negative pressure suction cup 105 and the second negative pressure suction cup 105 is the single-step movement distance. The second negative pressure suction cup 105 is adsorbed to the wall through negative pressure, and generates friction to balance the gravity of the wall-climbing robot 100. The first negative pressure suction cup 105 is separated from the wall, and the multiple joint driving modules 104 rotate, and drive the second negative pressure suction cup 105 through the connecting structure 103 to achieve the second step of movement, and reciprocate in sequence. The staff can realize preset path planning and achieve automatic operation by controlling the wall-climbing robot 100.

[0052] Among them, refer to Figure 2 As shown, the negative pressure suction cup 105 is provided with an air pipe 113 for connecting to an external vacuum generator, and the air pipe 113 is provided with an air pressure sensor 114, which is used to detect the internal air pressure of the negative pressure suction cup 105.

[0053] It should be noted that the air pipe 113 and the air pressure sensor 114 can both be disposed inside the pipe of the flange 115 .

[0054] The air pressure sensor 114 can detect the air pressure between the negative pressure suction cup 105 and the wall in real time. When the air pressure does not meet the requirements, the external vacuum generator can be used to evacuate the air so that the vacuum degree meets the adsorption requirements. When the negative pressure suction cup 105 needs to be moved, the vacuum generator inflates the negative pressure suction cup 105 through the air pipe 113 to release the adsorption of the negative pressure suction cup 105 on the wall.

[0055] It should be noted that the maximum value of the single-step moving distance and the maximum value of the single-step crossing height are limited by the length and number of the connecting structure 103. A longer connecting structure 103 can form a larger moving distance and crossing height data, but it will increase the weight of the entire device and create requirements for the maximum friction force that the negative pressure suction cup 105 can generate with the wall. Therefore, those skilled in the art can set it according to needs, and no special limitation is made here.

[0056] As an optional embodiment, the sub-cleaning robot 106 is detachably connected to the connecting structure 103; a moving module and an adsorption module are provided on the sub-cleaning robot 106, and the sub-cleaning robot 106 is separated from the connecting structure 103. The sub-cleaning robot 106 can be adsorbed on the wall through the adsorption module and moved on the wall through the moving module.

[0057] It should be noted that the adsorption module of the sub-cleaning robot 106 adopts negative pressure adsorption, wherein the mobile module can adopt a crawler mobile component or a wheeled mobile component. In this regard, those skilled in the art can make settings as needed.

[0058] It should be noted that the embodiment of the present application configures the sub-cleaning robot 106 as a detachable connection structure, which facilitates the sub-cleaning robot 106 to be separated from the wall-climbing robot 100 on the moving path of the wall-climbing robot 100, thereby achieving independent operation.

[0059] It should be noted that the embodiment of the present application essentially provides a father-son robot system, in which the bipedal wall-climbing robot 100, as the "father" robot, can accurately place the "son" end-effector robot on the window or wall surface. The system integrates multiple functions of wall climbing, operation and cleaning, and can provide a solution for efficient cleaning of windows or walls of exoskeleton structures. The bipedal wall-climbing robot 100 can move according to the planned path and cross obstacles, while the child cleaning robot 106 can achieve rapid operation on the local plane, which not only improves the safety and accuracy of task execution, but also significantly improves the overall work efficiency.

[0060] Specifically, refer to Figure 2As shown, the sub-cleaning robot 106 of the embodiment of the present application has a first contact surface 107 on the side facing away from the wall; an electromagnet module 108 is provided on the connecting structure 103, and the electromagnet module 108 has a second contact surface 109; the electromagnet module 108 is energized to generate electromagnetic force and cause the first contact surface 107 to abut against the second contact surface 109.

[0061] There are two sub-cleaning robots 106 , which are respectively arranged on the first foot 101 and the second foot 102 .

[0062] Among them, the first foot 101 and the second foot 102 are respectively provided with a depth camera 112 for detecting the external environment. It should be noted that the embodiment of the present application can perform position recognition and positioning of the wall-climbing robot 100 through the setting of the depth camera 112. Through coordinate conversion, the wall-climbing robot 100 uses the electromagnet module 108 to accurately place and grasp the sub-cleaning robot 106. By placing the end effector on the wall surface, the sub-cleaning robot 106 is remotely started to adsorb the wall surface, and then the electromagnet module 108 is detached, and the sub-cleaning robot 106 starts to automatically clean the wall surface. The placement and adsorption process of the sub-cleaning robot 106 achieves stable coordination and can avoid the risk of falling.

[0063] It should be noted that a sub-cleaning robot 106 may be provided as required, for example, the sub-cleaning robot 106 may be provided only on the first foot 101 or the second foot 102 .

[0064] The working principle of the embodiment of this application:

[0065] When the host computer issues an adsorption command to the wall-climbing robot 100, the vacuum generator is connected to the negative pressure suction cup 105 through a pipe, and starts to extract the air in the cavity of the negative pressure suction cup 105 to form a vacuum. When the vacuum reaches the preset threshold, the vacuum stops and the cavity temporarily maintains a vacuum state. The air pressure sensor 114 continuously monitors the air pressure in the cavity. If the air pressure is lower than the threshold, the vacuum generator will start again until it returns to the set value. When the host computer issues a desorption command, the vacuum generator inputs positive air pressure to the negative pressure suction cup 105. Due to the action of the airflow, a gap is created between the negative pressure suction cup 105 and the adsorption surface, thereby achieving desorption. Refer to Figure 5 , Figure 6As shown, after receiving the instruction to place the sub-cleaning robot 106, the electromagnet module 108 is powered on to generate electromagnetic force to adsorb the sub-cleaning robot 106, and after the sub-cleaning robot 106 moves to the designated area, the sub-cleaning robot 106 contacts the wall, and the adsorption mode of the sub-cleaning robot 106 is remotely started, and then the electromagnet module 108 stops working and separates from the sub-cleaning robot 106. When the upper computer issues a grabbing instruction, the visual sensor is positioned in the predetermined area, preliminarily detects the position of the sub-cleaning robot 106, and guides the electromagnet module 108 to contact the sub-cleaning robot 106. After the electromagnet module 108 contacts the sub-cleaning robot 106, it starts and turns off the sub-cleaning robot 106. After the cleaning instruction is issued, through the coordination of the wall-climbing robot 100 and the operating system, the cleaning robot is placed and grabbed to different areas, and the cleaning mode is started to complete the cleaning task of multiple areas.

[0066] in, Figure 4 The operation of the wall-climbing robot 100 in the wall-climbing mode is demonstrated. The wall-climbing robot 100 achieves stable movement on the window of the exoskeleton structure through precise motion planning and control of the negative pressure suction cup 105.

[0067] It should be noted that the sub-cleaning robot 106 is grasped and placed by the electromagnet module 108. When the sub-cleaning robot 106 is retracted on the wall-climbing robot 100, the sub-cleaning robot 106 can be fixed by the provided locking structure.

[0068] As an optional implementation, the connecting structure 103 is an L-shaped structure; the first end 110 and the second end 111 of the L-shaped structure are respectively provided with sleeves, and the joint driving module 104 is installed in the sleeves.

[0069] It should be noted that the L-shaped structural member is simple in structure, reliable, and light in weight, and is convenient for installing the joint drive module 104 .

[0070] A flange 115 is provided on the negative pressure suction cup 105 , and the connecting structure 103 is connected to the flange 115 via the joint driving module 104 .

[0071] A connecting arm 116 extending in the radial direction is disposed on the flange 115 ; the sub-cleaning robot 106 is connected to the connecting arm 116 .

[0072] It should be noted that the wall-climbing robot 100 of the embodiment of the present application has extremely strong operating capabilities when it can perform operating tasks at high altitudes or in dangerous environments. By carrying a cleaning robot or other sub-cleaning robot 106, it can effectively complete the cleaning and maintenance of the exoskeleton structure wall. At the same time, with the help of integrated visual sensors, the wall-climbing robot 100 can also complete the inspection tasks of the building exterior walls or equipment, significantly improving work efficiency and safety.

[0073] The above description is only the preferred embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included in the protection scope of the present application.

Claims

1. A wall-climbing robot, characterized in that: The cleaning robot comprises a first foot (101) and a second foot (102); the first foot (101) and the second foot (102) are connected via a plurality of connecting structures (103) arranged in series; adjacent connecting structures (103) are linked via a joint driving module (104); the first foot (101) and the second foot (102) are respectively provided with a negative pressure suction cup (105) for adsorbing the wall; and a sub-cleaning robot (106) is also included; wherein one foot is adsorbed on the wall via the negative pressure suction cup (105), and the other foot is driven to move on the wall via the connecting structure (103) and the joint driving module (104), so that the sub-cleaning robot (106) can operate on the wall along a moving path.

2. The wall-climbing robot according to claim 1, characterized in that: The sub-cleaning robot (106) is detachably connected to the connecting structure (103); a moving module and an adsorption module are provided on the sub-cleaning robot (106); the sub-cleaning robot (106) is separated from the connecting structure (103); the sub-cleaning robot (106) can be adsorbed on the wall through the adsorption module, and can be moved on the wall through the moving module.

3. The wall-climbing robot according to claim 2, characterized in that: The sub-cleaning robot (106) has a first contact surface (107) on the side facing away from the wall; an electromagnet module (108) is provided on the connecting structure (103), and the electromagnet module (108) has a second contact surface (109); the electromagnet module (108) generates electromagnetic force when energized to cause the first contact surface (107) to abut against the second contact surface (109).

4. The wall-climbing robot according to claim 1, characterized in that: The sub-cleaning robot (106) is arranged on the first foot (101) and / or the second foot (102).

5. The wall-climbing robot according to any one of claims 1 to 4, characterized in that: The connecting structure (103) has a first end (110) and a second end (111), and the rotation axis of the joint driving module (104) at the first end (110) intersects perpendicularly with the rotation axis of the joint driving module (104) at the second end (111).

6. The wall-climbing robot according to claim 5, characterized in that: The connecting structure (103) is an L-shaped structure; a first end (110) and a second end (111) of the L-shaped structure are respectively provided with sleeves, and the joint driving module (104) is installed in the sleeves.

7. The wall-climbing robot according to any one of claims 1 to 4 and claim 6, characterized in that: The first foot (101) and the second foot (102) are respectively provided with a depth camera (112) for detecting the external environment.

8. The wall-climbing robot according to any one of claims 1 to 4 and claim 6, characterized in that: The negative pressure suction cup (105) is provided with an air pipe (113) for connecting to an external vacuum generator, and the air pipe (113) is provided with an air pressure sensor (114), and the air pressure sensor (114) is used to detect the internal air pressure of the negative pressure suction cup (105).

9. The wall-climbing robot according to any one of claims 1 to 4 and claim 6, characterized in that: The negative pressure suction cup (105) is provided with a flange (115), and the connecting structure (103) is connected to the flange (115) via the joint driving module (104).

10. The wall-climbing robot according to claim 9, characterized in that: The flange (115) is provided with a connecting arm (116) extending in the radial direction; the sub-cleaning robot (106) is connected to the connecting arm (116).

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