Wall-climbing robot for detecting defects of turbine runner

Abstract

The invention discloses a wall-climbing robot for water turbine runner defect inspection, and relates to the technical field of water turbine runners. The wall-climbing robot used for water turbine runner defect inspection comprises a support, and the support is provided with an adsorption device used for magnetically attracting a runner, a walking device used for walking on the runner and an inspection device used for inspecting the runner. The wall-climbing robot provided by the embodiment of the invention is used for performing defect inspection on a water turbine runner; through the adsorption effect of the adsorption device on the rotating wheel, the wall-climbing robot can be adsorbed on the rotating wheel, the wall-climbing robot can walk on the surface of the rotating wheel by walking on the rotating wheel through the walking device, and defect inspection is conducted on the rotating wheel through the inspection device on the wall-climbing robot. Compared with the prior art, a maintenance platform does not need to be erected at high altitude, the inspection period is shortened, the inspection efficiency is improved, high-altitude operation of workers is avoided, and the safety risk and the labor intensity are reduced.

Description

Technical Field

[0001] The present application relates to the technical field of water turbine runners, and in particular to a wall-climbing robot for inspecting defects of water turbine runners. Background Art

[0002] The turbine runner is the core component for energy conversion in hydropower units. During long-term service, due to the influence of welding residual thermal stress, transient force of water flow, solid particle erosion and unstable operating conditions, the turbine runner is prone to defects such as cracks and cavitation, which have a huge impact on the safety and reliability of hydropower unit operation.

[0003] In order to improve the safety and reliability of hydropower unit operation, it is necessary to conduct defect inspection on the turbine runner during the shutdown of the hydropower unit, so as to timely grasp the running status of the runner and determine the subsequent maintenance plan. The traditional defect inspection method is to set up a maintenance platform at high altitude, and workers stand on the maintenance platform to inspect and evaluate the runner.

[0004] However, this method has the following disadvantages: 1. It takes a lot of time to set up and dismantle the maintenance platform, resulting in a long inspection period; 2. High-altitude operations pose a threat to the safety of maintenance personnel, resulting in high safety risks; 3. Manual inspection is labor-intensive and has low inspection efficiency. Summary of the invention

[0005] The purpose of the present application is to provide a wall-climbing robot for inspecting defects of a turbine runner, so as to solve the problems of long working period, high safety risk and high labor intensity in inspecting a turbine runner using traditional methods.

[0006] The technical solution adopted by this application to solve its technical problem is:

[0007] A wall-climbing robot for inspecting defects of a turbine runner comprises a bracket on which an adsorption device for magnetically attracting the runner, a walking device for walking on the runner and an inspection device for inspecting the runner are arranged.

[0008] Furthermore, the inspection device includes a flaw detection component, a camera component and a distance sensor component.

[0009] Furthermore, the flaw detection assembly includes a flaw detection seat, a flaw detection lifting mechanism and a flaw detection probe; the flaw detection seat is connected to the bracket, and the flaw detection probe is connected to the flaw detection seat through the flaw detection lifting mechanism.

[0010] Furthermore, the flaw detection lifting mechanism includes a first servo, a first flaw detection arm, a second servo and a second flaw detection arm, the flaw detection probe is connected to one end of the second flaw detection arm, the other end of the second flaw detection arm is connected to one end of the first flaw detection arm through the second servo, and the other end of the first flaw detection arm is connected to the flaw detection seat through the first servo.

[0011] Furthermore, the camera assembly includes a movable camera arranged at the front end of the bracket and a fixed camera arranged at the rear end of the bracket.

[0012] Furthermore, the active camera includes a rotary motor connected to the bracket, a pitch motor mounting base connected to the output shaft of the rotary motor, a pitch motor connected to the pitch motor mounting base, a front camera mounting base connected to the output shaft of the pitch motor, and a front camera connected to the front camera mounting base.

[0013] Furthermore, the distance measuring sensor assembly includes a sensor mounting plate connected to the bracket and a distance measuring sensor connected to the sensor mounting plate.

[0014] Furthermore, the walking device includes a front drive wheel assembly and a rear drive wheel assembly, and the bracket includes a front mounting plate, a rear mounting plate and a steering assembly; the front drive wheel assembly is connected to the front mounting plate, the rear drive wheel assembly is connected to the rear mounting plate, and the front mounting plate is connected to the rear mounting plate via the steering assembly.

[0015] Furthermore, the steering assembly includes a steering shaft and a steering motor, one end of the steering shaft is fixedly connected to the front mounting plate, the other end of the steering shaft is rotatably connected to the rear mounting plate, the steering motor is connected to the rear mounting plate, and its output shaft is transmission-connected to the steering shaft.

[0016] Furthermore, the output shaft of the steering motor is connected to the steering shaft through a belt transmission mechanism.

[0017] Beneficial effects of this application:

[0018] The wall-climbing robot provided in the embodiment of the present application is used to inspect the defects of the turbine runner; the wall-climbing robot can be adsorbed on the runner by the adsorption effect of the adsorption device on the runner, and the wall-climbing robot can walk on the runner surface by the walking device, and the runner can be inspected for defects by the inspection device on the wall-climbing robot. Compared with the prior art, there is no need to set up an inspection platform at high altitude, which not only shortens the inspection period and improves the inspection efficiency, but also avoids the workers' high-altitude operations, reducing safety risks and labor intensity. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] 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.

[0020] Figure 1 is a schematic diagram of the structure of a wall-climbing robot provided in an embodiment of the present application;

[0021] Figure 2 It is a schematic diagram of the structure of the flaw detection component;

[0022] Figure 3 It is a schematic diagram of the structure of the activity camera;

[0023] Figure 4 It is a schematic diagram of the structure of the fixed camera and ranging sensor assembly;

[0024] Figure 5 It is a schematic diagram of the structure of a front drive wheel assembly and a rear drive wheel assembly;

[0025] Figure 6 It is a structural schematic diagram of the steering assembly.

[0026] Reference numerals:

[0027] 10-Negative detection components;

[0028] 101- flaw detection seat; 102- flaw detection probe; 103- first servo; 104- first flaw detection arm; 105- second servo; 106- second flaw detection arm;

[0029] 11-Activity camera;

[0030] 111-rotation motor; 112-pitch motor mounting seat; 113-pitch motor; 114-front camera mounting seat; 115-front camera; 116-front camera mounting seat support shaft; 117-front camera mounting seat support bearing;

[0031] 12-Fixed camera;

[0032] 121-rear camera mounting base; 122-rear camera;

[0033] 13- Distance sensor assembly;

[0034] 131-sensor mounting plate; 132-distance measuring sensor;

[0035] 14-Front drive wheel assembly;

[0036] 141- transmission shaft; 142- wheel; 143- motor mounting housing; 144- driving motor;

[0037] 15-rear drive wheel assembly;

[0038] 16-Front mounting plate;

[0039] 17- rear mounting plate;

[0040] 18- Steering assembly;

[0041] 181-steering shaft; 182-steering motor; 183-steering shaft support bearing; 184-first pulley; 185-second pulley; 186-belt;

[0042] 19-Permanent magnet. DETAILED DESCRIPTION

[0043] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application. In the absence of conflict, the embodiments in the present application and the features in the embodiments can be combined with each other.

[0044] In the description of this application, the terms "upper", "lower", "left", "right", "front", "back", "inside", "outside" and the like indicate directions or positional relationships based on the directions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing this application 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, and therefore cannot be understood as a limitation on this application. Unless otherwise specified, the above-mentioned directional descriptions can be flexibly set in the process of actual application under the condition that the relative positional relationship shown in the accompanying drawings is satisfied.

[0045] In the description of this application, it should 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 direct connection, or an indirect connection 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.

[0046] An embodiment of the present application provides a wall-climbing robot for inspecting defects of a turbine runner, comprising a bracket on which is provided an adsorption device for magnetically attracting the runner, a walking device for walking on the runner, and an inspection device for inspecting the runner.

[0047] The wall-climbing robot provided in the embodiment of the present application can inspect defects on the turbine runner; the specific inspection process is: placing the wall-climbing robot on the surface of the runner so that the adsorption device and the walking device are in contact with the surface of the runner; the adsorption device generates a magnetic adsorption force on the runner, and the magnetic adsorption force can adsorb the entire wall-climbing robot on the surface of the runner; the walking device walks on the surface of the runner, and the wall-climbing robot can walk on the surface of the runner; during the walking process of the wall-climbing robot, the inspection device performs defect inspection on the runner.

[0048] Compared with the prior art, when the wall-climbing robot provided in the embodiment of the present application is used to perform defect inspection on the rotating wheel, there is no need to set up a maintenance platform at high altitude, which not only saves the construction and dismantling processes of the maintenance platform, shortens the entire inspection period, and improves the inspection efficiency, but also uses the inspection device to automatically perform defect inspection on the rotating wheel, thereby improving the degree of automation, avoiding workers' high-altitude operations, and reducing safety risks and labor intensity.

[0049] In some embodiments, the inspection device includes a flaw detection component 10, a camera component and a distance sensor component 13. The flaw detection component is arranged on the bracket and used to detect flaws on the surface of the rotating wheel; the camera component is arranged on the bracket and used to take pictures of the surface of the rotating wheel to obtain an image of the rotating wheel surface; the distance sensor component is arranged on the bracket and used to detect the distance between the entire wall-climbing robot and the edge of the rotating wheel.

[0050] By setting up the flaw detection component 10 and the camera component, defects such as cavitation and cracks on the runner can be checked, so that on-site staff can timely understand the operating status of the runner and provide guidance for subsequent maintenance methods of the hydropower station equipment; by setting up the ranging sensor component 13, it is possible to detect whether the wall-climbing robot has reached the edge of the runner, and trigger an emergency stop when the wall-climbing robot reaches the limit position to prevent it from falling.

[0051] In some embodiments, see Figure 1 , Figure 2 The flaw detection assembly 10 includes a flaw detection seat 101, a flaw detection lifting mechanism and a flaw detection probe 102; the flaw detection seat 101 is connected to the bracket, and the flaw detection probe 102 is connected to the flaw detection seat 101 through the flaw detection lifting mechanism.

[0052] The flaw detection seat 101 is arranged below the bracket and fixedly connected to the bracket by bolts. One end of the flaw detection lifting mechanism is connected to the flaw detection seat 101, and the other end of the flaw detection lifting mechanism is connected to the flaw detection probe 102. The flaw detection lifting mechanism can drive the flaw detection probe 102 to rise and fall.

[0053] When the flaw detection assembly 10 is used to detect the surface of the rotating wheel, the entire wall-climbing robot is first controlled to move to a predetermined position, and then the flaw detection lifting mechanism is controlled to drive the flaw detection probe 102 to descend and make the flaw detection probe 102 contact the rotating wheel surface to detect the flaws on the rotating wheel surface; the staff can observe whether there is a defect at the detection position and the position and size of the defect from the screen of the flaw detector connected to the flaw detection probe 102. After the flaw detection is completed, the flaw detection lifting mechanism is controlled to drive the flaw detection probe 102 to rise so that the flaw detection probe 102 is separated from the rotating wheel surface to prevent the wall-climbing robot from damaging the flaw detection probe 102 during walking.

[0054] In some embodiments, see Figure 2 The flaw detection lifting mechanism includes a first steering gear 103, a first flaw detection arm 104, a second steering gear 105 and a second flaw detection arm 106. The flaw detection probe 102 is connected to one end of the second flaw detection arm 106, and the other end of the second flaw detection arm 106 is connected to one end of the first flaw detection arm 104 through the second steering gear 105. The other end of the first flaw detection arm 104 is connected to the flaw detection seat 101 through the first steering gear 103.

[0055] See also Figure 2 The flaw detection probe 102 is connected to the lower end of the second flaw detection arm 106 by a screw, the upper end of the second flaw detection arm 106 is connected to the second steering gear 105 by a screw, and the output end of the second steering gear 105 is connected to the left end of the first flaw detection arm 104 by a screw, so that the second steering gear 105 can be used to drive the second flaw detection arm 106 to rotate relative to the first flaw detection arm 104 in a vertical plane; the right end of the first flaw detection arm 104 is connected to the first steering gear 103 by a screw, and the output end of the first steering gear 103 is connected to the flaw detection seat 101 by a screw, so that the first steering gear 103 can be used to drive the first flaw detection arm 104 to rotate relative to the flaw detection seat 101 in a vertical plane.

[0056] When in use, by controlling the first servo 103 and the second servo 105 to work, the first flaw detection arm 104 and the second flaw detection arm 106 can be driven to retract and expand, thereby realizing the lifting and lowering of the flaw detection probe 102. At the same time, during flaw detection, the angle between the flaw detection probe 102 and the rotating wheel surface at the flaw detection position can be fine-tuned to ensure that the flaw detection probe 102 is perpendicular to the rotating wheel surface at the flaw detection position, thereby improving the accuracy of flaw detection.

[0057] In other embodiments, the flaw detection lifting mechanism may also include a cylinder, a hydraulic cylinder, an electric push rod or a screw lifting mechanism.

[0058] In some embodiments, see Figure 1 The camera assembly includes a movable camera 11 arranged at the front end of the bracket and a fixed camera 12 arranged at the rear end of the bracket.

[0059] The front end of the bracket refers to the front end along the walking direction of the wall-climbing robot, and the rear end of the bracket refers to the rear end along the walking direction of the wall-climbing robot. The active camera 11 is arranged at the front end of the bracket, and is used to take pictures and detect the surface of the rotating wheel in front of the walking direction of the wall-climbing robot. The fixed camera 12 is arranged at the rear end of the bracket, and is used to take pictures and detect the surface of the rotating wheel behind the walking direction of the wall-climbing robot. At the same time, the active camera 11 and the fixed camera 12 can also be used to detect in real time whether the wall-climbing robot has reached the edge of the rotating wheel, and trigger an emergency stop when the wall-climbing robot reaches the limit position to prevent it from falling.

[0060] In some embodiments, see Figure 3 The active camera 11 includes a rotary motor 111 connected to the bracket, a pitch motor mounting base 112 connected to the output shaft of the rotary motor 111, a pitch motor 113 connected to the pitch motor mounting base 112, a front camera mounting base 114 connected to the output shaft of the pitch motor 113, and a front camera 115 connected to the front camera mounting base 114.

[0061] When in use, the rotation angle of the front camera 115 can be adjusted by driving the pitch motor mounting seat 112 to rotate in the horizontal plane through the rotary motor 111, and the pitch angle of the front camera 115 can be adjusted by driving the front camera mounting seat 114 to pitch in the vertical plane through the pitch motor 113, thereby achieving the purpose of adjusting the detection angle of the front camera 115 and improving its detection range on the rotating wheel surface.

[0062] Exemplarily, the slewing motor 111 is fixed to the top of the front end of the bracket by screws, the output shaft of the slewing motor 111 is vertically arranged and connected to the pitch motor mounting seat 112 by screws, the pitch motor 113 is connected to the pitch motor mounting seat 112 by screws, the output shaft of the pitch motor 113 is horizontally arranged and connected to one side of the front camera mounting seat 114 by screws, the front camera mounting seat support shaft 116 is connected to the pitch motor mounting seat 112 by screws, the front camera mounting seat support shaft 116 is coaxially arranged with the output shaft of the pitch motor 113, and the two are respectively located on both sides of the front camera mounting seat 114, the front camera mounting seat support shaft 116 is rotatably connected to the front camera mounting seat 114 through a front camera mounting seat support bearing 117, the front camera mounting seat 114 is a box structure, the front camera 115 is installed in the inner cavity of the front camera mounting seat 114, and its lens passes through the front camera mounting seat 114 and extends to the outside of the front camera mounting seat 114.

[0063] In some embodiments, see Figure 4 The fixed camera 12 includes a rear camera mounting seat 121 connected to the bracket and a rear camera 122 connected to the rear camera mounting seat 121. The distance sensor assembly 13 includes a sensor mounting plate 131 connected to the bracket and a distance sensor 132 connected to the sensor mounting plate 131.

[0064] Exemplarily, the rear camera mounting seat 121 is fixed to the top of the rear end of the bracket by screws, the rear camera 122 is connected to the rear camera mounting seat 121 by screws, and the lens of the rear camera 122 faces the rear end of the bracket. The sensor mounting plate 131 is vertically arranged and connected to the end surface of the rear end of the bracket by screws, the ranging sensor 132 is arranged below the bracket and connected to the sensor mounting plate 131 by screws, and the detection direction of the ranging sensor 132 extends obliquely downward from the front end to the rear end of the bracket. The sensor mounting plate 131 is also connected to the rear camera 122 to improve the reliability of fixing the rear camera 122.

[0065] In some embodiments, see Figure 1 The walking device includes a front driving wheel assembly 14 and a rear driving wheel assembly 15, and the bracket includes a front mounting plate 16, a rear mounting plate 17 and a steering assembly 18; the front driving wheel assembly 14 is connected to the front mounting plate 16, the rear driving wheel assembly 15 is connected to the rear mounting plate 17, and the front mounting plate 16 is connected to the rear mounting plate 17 through the steering assembly 18.

[0066] When in use, the front driving wheel assembly 14 and the rear driving wheel assembly 15 can roll on the rotating wheels, so that the wall-climbing robot can move forward and backward on the rotating wheels; the steering assembly 18 can make the axis of the front driving wheel assembly 14 and the axis of the rear driving wheel assembly 15 in a non-parallel state, so that the wall-climbing robot can turn on the rotating wheels; thereby, the wall-climbing robot can be quickly moved to any position on the rotating wheels, thereby improving the detection efficiency.

[0067] For example, see Figure 1 The front mounting plate 16 is horizontally arranged, and the bottom of the front mounting plate 16 is connected to the front drive wheel assembly 14 through the front flange assembly. The rotary motor 111 of the active camera 11 is installed on the top of the front end of the front mounting plate 16 by screws, and the rear end of the front mounting plate 16 is connected to the front end of the rear mounting plate 17 through the steering assembly 18; the rear mounting plate 17 is horizontally arranged, and the bottom of the rear mounting plate 17 is connected to the rear drive wheel assembly 15 through the rear flange assembly, the flaw detection seat 101 of the flaw detection assembly 10 is connected to the bottom of the rear mounting plate 17 by screws, the rear camera mounting seat 121 is installed on the top of the rear end of the rear mounting plate 17 by screws, and the sensor mounting plate 131 is installed at the rear end of the rear mounting plate 17 by screws.

[0068] In some embodiments, see Figure 6 The steering assembly 18 includes a steering shaft 181 and a steering motor 182. One end of the steering shaft 181 is fixedly connected to the front mounting plate 16, and the other end of the steering shaft 181 is rotatably connected to the rear mounting plate 17. The steering motor 182 is connected to the rear mounting plate 17, and its output shaft is transmission-connected to the steering shaft 181.

[0069] When in use, the output shaft of the steering motor 182 rotates and drives the steering shaft 181 to rotate, and the steering shaft 181 then drives the front mounting plate 16 to rotate, and the front mounting plate 16 then drives the front drive wheel assembly 14 to swing around the steering shaft 181, thereby making the axis of the front drive wheel assembly 14 and the axis of the rear drive wheel assembly 15 non-parallel, thereby realizing the steering of the wall-climbing robot on the rotating wheels.

[0070] Exemplarily, the steering shaft 181 is vertically arranged, the lower end of the steering shaft 181 is fixedly connected to the front mounting plate 16 by screws, the upper end of the steering shaft 181 is rotatably connected to the rear mounting plate 17 by a steering shaft support bearing 183, the steering motor 182 is connected to the rear mounting plate 17 by screws, the output shaft of the steering motor 182 is vertically arranged, and the output shaft of the steering motor 182 can be transmission-connected to the steering shaft 181 by a gear transmission mechanism, a chain transmission mechanism, etc., so as to drive the steering shaft 181 to rotate.

[0071] In some embodiments, see Figure 6 The output shaft of the steering motor 182 is connected to the steering shaft 181 through a belt transmission mechanism. The belt transmission mechanism includes a first pulley 184, a second pulley 185 and a belt 186. The diameter of the first pulley 184 is smaller than the diameter of the second pulley 185. The first pulley 184 is coaxially fixed on the output shaft of the steering motor 182, and the second pulley 185 is coaxially fixed on the steering shaft 181. The belt 186 is sleeved on the first pulley 184 and the second pulley 185. When in use, the output shaft of the steering motor 182 drives the first pulley 184 to rotate, the first pulley 184 drives the second pulley 185 to rotate through the belt 186, and the second pulley 185 drives the steering shaft 181 to rotate.

[0072] In some embodiments, see Figure 5 The front drive wheel assembly 14 and the rear drive wheel assembly 15 have the same structure, and both include a transmission shaft 141, a wheel 142, a motor mounting housing 143, and a drive motor 144; the transmission shaft 141 is arranged horizontally, and two wheels 142 are respectively fixed at both ends of the transmission shaft 141, the motor mounting housing 143 is sleeved on the transmission shaft 141, the drive motor 144 is arranged in the motor mounting housing 143 and sleeved on the transmission shaft 141, the stator of the drive motor 144 is fixedly connected to the motor mounting housing 143, and the rotor of the drive motor 144 is fixedly connected to the transmission shaft 141. The top of the motor mounting housing 143 of the front drive wheel assembly 14 is fixedly connected to the bottom of the front mounting plate 16 through the front flange assembly, and the top of the motor mounting housing 143 of the rear drive wheel assembly 15 is fixedly connected to the bottom of the rear mounting plate 17 through the rear flange assembly. When in use, the driving motor 144 is started, and the rotor of the driving motor 144 drives the transmission shaft 141 to rotate, and the transmission shaft 141 in turn drives the wheel 142 to rotate.

[0073] The adsorption device may include an electromagnet, which may be mounted at the bottom of the bracket or at the bottom of the motor mounting housing 143. Figure 1 The adsorption device may include a permanent magnet 19, which may be installed at the bottom of the bracket or at the bottom of the motor mounting cover 143. Exemplarily, the permanent magnet 19 includes two permanent magnets 19, which are respectively fixed to the bottoms of the two motor mounting covers 143 by screws, and the permanent magnet 19 may be an arc-shaped structure.

[0074] When the wall-climbing robot is placed on the surface of the rotating wheel, the outer peripheral surface of the wheel 142 contacts the surface of the rotating wheel, and a magnetic adsorption force is generated on the surface of the rotating wheel through the permanent magnet 19. The magnetic adsorption force can press the wheel 142 against the surface of the rotating wheel, ensuring that there is friction between the wheel 142 and the surface of the rotating wheel, so that the wall-climbing robot can be stably and reliably adsorbed on the surface of the rotating wheel to prevent the wall-climbing robot from falling from the rotating wheel. Among them, the permanent magnet 19 can have a certain mechanical gap with the surface of the rotating wheel. The mechanical gap allows the permanent magnet 19 to achieve non-contact adsorption with the surface of the rotating wheel, which can avoid the friction and wear problems in traditional contact adsorption and reduce energy loss.

[0075] The above are only specific implementation methods of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed in the present application should be covered within the protection scope of the present application.

Claims

1. A wall-climbing robot for inspecting defects of a turbine runner, characterized in that: The utility model comprises a bracket, on which an adsorption device for magnetically attracting a rotating wheel, a walking device for walking on the rotating wheel and an inspection device for inspecting the rotating wheel are arranged.

2. The wall-climbing robot according to claim 1, characterized in that: The inspection device comprises a flaw detection component (10), a camera component and a distance measuring sensor component (13).

3. The wall-climbing robot according to claim 2, characterized in that: The flaw detection assembly (10) comprises a flaw detection seat (101), a flaw detection lifting mechanism and a flaw detection probe (102); the flaw detection seat (101) is connected to the bracket, and the flaw detection probe (102) is connected to the flaw detection seat (101) via the flaw detection lifting mechanism.

4. The wall-climbing robot according to claim 3, characterized in that: The flaw detection lifting mechanism comprises a first steering gear (103), a first flaw detection arm (104), a second steering gear (105) and a second flaw detection arm (106); the flaw detection probe (102) is connected to one end of the second flaw detection arm (106); the other end of the second flaw detection arm (106) is connected to one end of the first flaw detection arm (104) through the second steering gear (105); and the other end of the first flaw detection arm (104) is connected to the flaw detection seat (101) through the first steering gear (103).

5. The wall-climbing robot according to claim 2, characterized in that: The camera assembly comprises a movable camera (11) arranged at the front end of the bracket and a fixed camera (12) arranged at the rear end of the bracket.

6. The wall-climbing robot according to claim 5, characterized in that: The movable camera (11) comprises a rotary motor (111) connected to the bracket, a pitch motor mounting seat (112) connected to the output shaft of the rotary motor (111), a pitch motor (113) connected to the pitch motor mounting seat (112), a front camera mounting seat (114) connected to the output shaft of the pitch motor (113), and a front camera (115) connected to the front camera mounting seat (114).

7. The wall-climbing robot according to claim 2, characterized in that: The distance measuring sensor assembly (13) comprises a sensor mounting plate (131) connected to the bracket and a distance measuring sensor (132) connected to the sensor mounting plate (131).

8. The wall-climbing robot according to claim 1, characterized in that: The walking device comprises a front driving wheel assembly (14) and a rear driving wheel assembly (15), and the bracket comprises a front mounting plate (16), a rear mounting plate (17) and a steering assembly (18); The front drive wheel assembly (14) is connected to the front mounting plate (16), the rear drive wheel assembly (15) is connected to the rear mounting plate (17), and the front mounting plate (16) is connected to the rear mounting plate (17) via the steering assembly (18).

9. The wall-climbing robot according to claim 8, characterized in that: The steering assembly (18) comprises a steering shaft (181) and a steering motor (182); one end of the steering shaft (181) is fixedly connected to the front mounting plate (16); the other end of the steering shaft (181) is rotationally connected to the rear mounting plate (17); the steering motor (182) is connected to the rear mounting plate (17), and its output shaft is transmission-connected to the steering shaft (181).

10. The wall-climbing robot according to claim 9, characterized in that: The output shaft of the steering motor (182) is transmission-connected to the steering shaft (181) via a belt transmission mechanism.

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