Walking mechanism of wall-climbing robot and weld joint maintenance robot

Abstract

The invention relates to the technical field of weld joint maintenance robots, and discloses a walking mechanism of a wall-climbing robot and the weld joint maintenance robot, the walking mechanism comprises a mounting unit, a transmission unit and a rotating unit, the mounting unit comprises a wall-climbing robot body, and a scraping plate is fixedly mounted on one side wall of the wall-climbing robot body; the wall-climbing robot comprises a wall-climbing robot body, a rectangular groove is formed in the bottom of the wall-climbing robot body, two symmetrical mounting plates are fixedly mounted at the bottom of the wall-climbing robot body, first bearings are arranged on the two mounting plates correspondingly, the two first bearings are symmetrical, rotating rods are arranged in inner cavities of the two first bearings, and rotating wheels are fixedly mounted on the rotating rods. According to the device, when a first inclined block or a second inclined block loses extrusion force of a first cam and a second cam, a reset spring can enable a placement plate to move under the assistance of a second sliding mechanism under the action of elasticity, so that a first moving rod or a second moving rod can be quickly ejected out to knock on a wall; and the wall can generate vibration, so that dust falls off.

Description

Technical Field

[0001] The present invention belongs to the technical field of weld repair robots, and in particular, relates to a walking mechanism of a wall-climbing robot and a weld repair robot. Background Art

[0002] The wall-climbing robot is mainly used for special operations of large metal tank equipment and large mechanical devices. It can be used in petrochemical, shipbuilding, container terminals and other enterprises to perform special inspections such as flaw detection and welding on the inner and outer walls of metal tanks or spherical tanks, and perform sandblasting, rust removal, painting, and corrosion protection on the metal tank walls. At the same time, it can carry different testing equipment for flaw detection, thickness, and corrosion testing. The walking mechanism of the wall-climbing robot is mainly used for the robot to be adsorbed on the working surface and used to walk on the working surface.

[0003] However, when existing wall-climbing robots monitor cracks on the wall, they often clean the wall with a scraper plate before monitoring. However, when the scraper plate is used to clean impurities and dust on the wall, dust is easily generated, which can easily cause the front side of the detection component to be affected by dust and cause unclear detection. At the same time, although the scraper plate can clean the wall, there are still cracks that are blocked during cleaning, which makes it impossible to clean, and therefore it is not easy to be discovered during monitoring.

[0004] In view of this, the present invention is proposed. Summary of the invention

[0005] In order to solve the above technical problems, the basic concept of the technical solution adopted by the present invention is:

[0006] A walking mechanism of a wall-climbing robot comprises a mounting unit, a transmission unit and a rotating unit, wherein the mounting unit comprises a wall-climbing robot body, a scraping plate is fixedly mounted on one side wall of the wall-climbing robot body, a rectangular groove is provided at the bottom of the wall-climbing robot body, two mutually symmetrical mounting plates are fixedly mounted at the bottom of the wall-climbing robot body, first bearings are respectively arranged on the two mounting plates, the two first bearings are symmetrical to each other, rotating rods are arranged in the inner cavities of the two first bearings, rotating wheels are fixedly mounted on the rotating rods, a first detection assembly and a second detection assembly are respectively fixedly mounted above the inner cavity of the wall-climbing robot body, and the first detection assembly and the second detection assembly are symmetrical to each other;

[0007] The transmission unit comprises a first cam and a second cam, the first cam and the second cam are respectively fixedly mounted on the rotating rod, a first tilting block and a second tilting block are respectively arranged above the first cam and the second cam, the two first tilting blocks and the second tilting blocks are staggered and symmetrical, a first sliding mechanism is arranged on one side wall of the two first tilting blocks and the second tilting blocks, a flipping mechanism is also arranged on one side wall of the two first tilting blocks and the second tilting block, and a rectangular tube is arranged on one side wall of the flipping mechanism, the two rectangular tubes are staggered and symmetrical, and a second sliding mechanism is arranged in the inner cavity of the two rectangular tubes;

[0008] The rotating unit includes a first rotating cylinder and a second rotating cylinder, and third bearings are respectively arranged above the first rotating cylinder and the second rotating cylinder, and the two third bearings are respectively installed above the inner cavity of the wall-climbing robot body, and the two third bearings are symmetrical to each other. The bottoms of the first rotating cylinder and the second rotating cylinder are respectively provided with staggered and symmetrical inclined surfaces, and the inclined surfaces are provided with third sliding mechanisms, and cleaning mechanisms are also fixedly installed at the bottoms of the first rotating cylinder and the second rotating cylinder.

[0009] As a preferred embodiment of the present invention, the first sliding mechanism includes two first sliding grooves, which are respectively opened on two opposite side walls of the inner cavity of the wall-climbing robot body, and the two first sliding grooves are staggered and symmetrical with each other. First sliding blocks are slidably installed in the inner cavities of the two first sliding grooves, and the two first sliding blocks are staggered and symmetrical with each other. One end of the two first sliding grooves away from the first sliding groove is fixedly connected to the first inclined block and the second inclined block.

[0010] As a preferred embodiment of the present invention, the flipping mechanism includes a first flip plate and a second flip plate, and the first flip plate and the second flip plate are respectively placed on one side wall of the first inclined block and the second inclined block, and rotating rods are respectively fixedly installed on the first flip plate and the second flip plate, and second bearings are respectively provided at one end of the two rotating rods away from the first flip plate and the second flip plate, and the two second bearings are respectively installed on the opposite side walls of the inner cavity of the wall-climbing robot body.

[0011] As a preferred embodiment of the present invention, the second sliding mechanism includes four second sliding grooves, and the four second sliding grooves are respectively opened on the two opposite side walls of the inner cavity of two rectangular cylinders, and the four second sliding grooves are symmetrical with each other. The inner cavities of the four second sliding grooves are all slidably installed with second sliding blocks, and the four second sliding blocks are symmetrical with each other, and a placement plate is fixedly installed on the opposite side wall.

[0012] As a preferred embodiment of the present invention, a return spring is fixedly mounted on one end of the two placement plates, and the other ends of the two return springs are fixedly connected to the inner wall of the rectangular tube.

[0013] As a preferred embodiment of the present invention, one end of the two placement plates away from the return spring is respectively fixedly connected to a first moving rod and a second moving rod, and limit blocks are respectively fixedly installed on the first moving rod and the second moving rod.

[0014] As a preferred embodiment of the present invention, a rectangular slot is formed at one end of the first moving rod and the second moving rod away from the rectangular tube, and a rotating wheel is rotatably provided in the inner cavity of the rectangular slot.

[0015] As a preferred embodiment of the present invention, the third sliding mechanism includes two arcuate slide grooves, which are respectively opened on the bottom inclined surfaces of the first rotating drum and the second rotating drum, and the inner cavities of the two arcuate slide grooves are both slidably installed with guide sliders.

[0016] As a preferred embodiment of the present invention, the two guide sliders are respectively fixedly connected with a first connecting rod and a second connecting rod at one end away from the arc slide groove, and the first connecting rod and the second connecting rod are respectively fixedly connected to the first inclined block and the second inclined block at one end away from the guide slider.

[0017] As a preferred embodiment of the present invention, the cleaning mechanism includes a first cleaning plate and a second cleaning plate, and one side wall of the first cleaning plate and the second cleaning plate are respectively fixedly connected with a connecting plate, and the two connecting plates are respectively fixedly connected with a fixing rod above one end away from the first cleaning plate and the second cleaning plate, and the upper ends of the two fixing rods are respectively fixedly connected to the bottom of the first rotating drum and the second rotating drum.

[0018] A weld inspection robot comprises the walking mechanism of the above-mentioned wall-climbing robot.

[0019] Compared with the prior art, the present invention has the following beneficial effects:

[0020] When the first and second tilting blocks are moved vertically upward respectively, the first and second flipping plates can be squeezed to rotate with the assistance of the rotating rod and the second bearing. When the first and second flipping plates are rotated, they can respectively push the limit blocks fixedly installed on the first and second moving rods to move. Therefore, the first and second moving rods can be driven by the limit blocks to push the placement plate to move with the assistance of the second sliding groove and the second sliding block in the second sliding mechanism, so that the placement plate can squeeze the return spring when moving, and the return spring can accumulate force. Until the first tilting block or the second tilting block loses the squeezing force of the first cam and the second cam, the return spring can allow the placement plate to move with the assistance of the second sliding mechanism under the action of elasticity, so that the first moving rod or the second moving rod can be quickly ejected, thereby knocking on the wall, so that the wall can vibrate and dust in the crack falls off.

[0021] The specific implementation modes of the present invention are further described in detail below in conjunction with the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0022] In the attached picture:

[0023] Figure 1 It is a schematic diagram of the walking mechanism of a wall-climbing robot and a three-dimensional structure of a weld inspection robot;

[0024] Figure 2 It is a schematic diagram of the walking mechanism of a wall-climbing robot and a bottom-up structural diagram of a weld inspection robot;

[0025] Figure 3 It is a schematic diagram of the cross-sectional structure of a walking mechanism of a wall-climbing robot and a wall-climbing robot body of a weld inspection robot;

[0026] Figure 4 It is a schematic diagram of a walking mechanism of a wall-climbing robot and a wall-climbing robot body of a weld inspection robot from a top view;

[0027] Figure 5 It is a schematic diagram of the walking mechanism of a wall-climbing robot and the inner cavity structure of the wall-climbing robot body of a weld inspection robot;

[0028] Figure 6 It is a schematic diagram of the local structure of the inner cavity of a wall-climbing robot's walking mechanism and a wall-climbing robot's body of a weld inspection robot;

[0029] Figure 7 The figure is a schematic diagram of the walking mechanism of a wall-climbing robot and the rectangular tube structure of a weld inspection robot.

[0030] In the figure:

[0031] 100, mounting unit; 101, wall-climbing robot body; 1011, scraper plate; 1012, mounting plate; 102, rotating rod; 1021, first bearing; 1022, rotating wheel; 103, first detection component; 1031, second detection component;

[0032] 200, transmission unit; 201, first cam; 2011, second cam; 2012, first tilting block; 2013, second tilting block; 202, first slide groove; 2021, first slider; 203, first flip plate; 2031, rotating rod; 2032, second bearing; 2033, second flip plate; 204, rectangular tube; 2041, first moving rod; 2042, second moving rod; 2043, rectangular notch; 2044, rotating wheel; 205, second slide groove; 2051, second slider; 2052, placement plate; 2053, return spring;

[0033] 300, rotating unit; 301, first connecting rod; 3011, second connecting rod; 302, first rotating drum; 3021, second rotating drum; 3022, third bearing; 303, arc-shaped slide groove; 3031, guide slider; 304, fixing rod; 3041, connecting plate; 3042, first cleaning plate; 3043, second cleaning plate. DETAILED DESCRIPTION

[0034] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. The following embodiments are used to illustrate the present invention.

[0035] Embodiment 1:

[0036] like Figures 1 to 7As shown, a walking mechanism of a wall-climbing robot includes a mounting unit 100, a transmission unit 200 and a rotation unit 300. The mounting unit 100 includes a wall-climbing robot body 101. A scraper plate 1011 is fixedly mounted on one side wall of the wall-climbing robot body 101. A rectangular groove is provided at the bottom of the wall-climbing robot body 101. Two mutually symmetrical mounting plates 1012 are fixedly mounted at the bottom of the wall-climbing robot body 101. First bearings 1021 are respectively provided on the two mounting plates 1012. The two first bearings 1021 are symmetrical to each other. The inner cavities of the two first bearings 1021 are provided with rotating rods 102, on which rotating wheels 1022 are fixedly mounted, and the first detection assembly 103 and the second detection assembly 1031 are fixedly mounted above the inner cavity of the wall-climbing robot body 101, respectively, and the first detection assembly 103 and the second detection assembly 1031 are symmetrical to each other; the transmission unit 200 includes a first cam 201 and a second cam 2011, which are fixedly mounted on the rotating rod 102, respectively, and the first cam 201 and the second cam 2011 are fixedly mounted on the rotating rod 102, respectively. 011 is provided with a first tilting block 2012 and a second tilting block 2013 above, the two first tilting blocks 2012 and the second tilting blocks 2013 are staggered and symmetrical, a first sliding mechanism is provided on one side wall of the two first tilting blocks 2012 and the second tilting blocks 2013, a flipping mechanism is also provided on one side wall of the two first tilting blocks 2012 and the second tilting blocks 2013, and a rectangular cylinder 204 is provided on one side wall of the flipping mechanism, the two rectangular cylinders 204 are staggered and symmetrical, and a second sliding mechanism is provided in the inner cavity of the two rectangular cylinders 204; rotating The unit 300 includes a first rotating cylinder 302 and a second rotating cylinder 3021. Third bearings 3022 are respectively arranged above the first rotating cylinder 302 and the second rotating cylinder 3021. The two third bearings 3022 are respectively installed above the inner cavity of the wall-climbing robot body 101. The two third bearings 3022 are symmetrical to each other. The bottoms of the first rotating cylinder 302 and the second rotating cylinder 3021 are respectively provided with staggered and symmetrical inclined surfaces, and a third sliding mechanism is arranged on the inclined surfaces. A cleaning mechanism is also fixedly installed at the bottoms of the first rotating cylinder 302 and the second rotating cylinder 3021.When the first tilting block 2012 and the second tilting block 2013 move vertically upward respectively, they can squeeze the first flip plate 203 and the second flip plate 2033 to rotate with the assistance of the rotating rod 2031 and the second bearing 2032. When the first flip plate 203 and the second flip plate 2033 rotate, they can respectively push the fixed limit blocks on the first moving rod 2041 and the second moving rod 2042 to move, so that the first moving rod 2041 and the second moving rod 2042 can be driven by the limit blocks to push the placement plate 2052 in the second sliding groove 205 and the second sliding groove 205 of the second sliding mechanism. The slider 2051 moves with the assistance of the placement plate 2052, so that the placement plate 2052 can squeeze the reset spring 2053 when moving, and the reset spring 2053 can accumulate force until the first tilting block 2012 or the second tilting block 2013 loses the squeezing force of the first cam 201 and the second cam 2011. The reset spring 2053 can elastically allow the placement plate 2052 to move with the assistance of the second sliding mechanism, so that the first moving rod 2041 or the second moving rod 2042 can be quickly ejected, thereby hitting the wall, causing the wall to vibrate and allowing dust to fall off.

[0037] like Figures 2 to 6 As shown, in a specific embodiment, the first sliding mechanism includes two first slide grooves 202, the two first slide grooves 202 are respectively opened on the two opposite side walls of the inner cavity of the wall-climbing robot body 101, the two first slide grooves 202 are staggered and symmetrical, the inner cavities of the two first slide grooves 202 are respectively slidably installed with first sliders 2021, the two first sliders 2021 are staggered and symmetrical, and the ends of the two first sliders 2021 away from the first slide grooves 202 are respectively fixedly connected to the first inclined block 2012 and the second inclined block 2013. In this setting, the installation position and components of the first sliding mechanism are determined.

[0038] like Figures 2 to 6 As shown, further, the flip mechanism includes a first flip plate 203 and a second flip plate 2033, the first flip plate 203 and the second flip plate 2033 are respectively placed on one side wall of the first tilting block 2012 and the second tilting block 2013, and a rotating rod 2031 is respectively fixedly installed on the first flip plate 203 and the second flip plate 2033, and a second bearing 2032 is respectively arranged at one end of the two rotating rods 2031 away from the first flip plate 203 and the second flip plate 2033, and the two second bearings 2032 are respectively installed on the two opposite side walls of the inner cavity of the wall-climbing robot body 101. In this configuration, the installation position and components of the flip mechanism are determined.

[0039] like Figure 7As shown, further, the second sliding mechanism includes four second slide grooves 205, which are respectively opened on the two opposite side walls of the inner cavity of the two rectangular tubes 204, and the four second slide grooves 205 are symmetrical to each other. The inner cavities of the four second slide grooves 205 are all slidably mounted with second sliders 2051, and the four second sliders 2051 are symmetrical to each other, and the opposite side walls are fixedly mounted with a placement plate 2052. In this configuration, the installation position and components of the second sliding mechanism are determined.

[0040] As shown in FIG. 7 , further, one end of the two placement plates 2052 is fixedly mounted with a return spring 2053, and the other ends of the two return springs 2053 are fixedly connected to the inner wall of the rectangular tube 204. In this arrangement, it is ensured that the placement plates 2052 can be reset under the elastic force of the return springs 2053.

[0041] like Figures 2 to 7 As shown, further, the two placement plates 2052 are respectively fixedly connected with the first moving rod 2041 and the second moving rod 2042 at one end away from the return spring 2053, and the first moving rod 2041 and the second moving rod 2042 are respectively fixedly installed with limit blocks. In this arrangement, it is ensured that when the first tilting block 2012 and the second tilting block 2013 move vertically upward respectively, they can squeeze the first flip plate 203 and the second flip plate 2033 to rotate with the assistance of the rotating rod 2031 and the second bearing 2032. When the first flip plate 203 and the second flip plate 2033 rotate, they can respectively push the limit blocks fixedly installed on the first moving rod 2041 and the second moving rod 2042 to move, so that the first moving rod 2041 and the second moving rod 2042 can be driven by the limit blocks to push the placement plate 2052 to move with the assistance of the second slide groove 205 and the second slider 2051 in the second sliding mechanism.

[0042] Embodiment 2:

[0043] The difference between the above embodiment and this embodiment is that: Figures 2 to 7 As shown, a walking mechanism of a wall-climbing robot, a first moving rod 2041 and a second moving rod 2042 are respectively provided with a rectangular slot 2043 at one end away from the rectangular tube 204, and a rotating wheel 2044 is rotatably provided in the inner cavity of the rectangular slot 2043. In this arrangement, it is ensured that the rotating wheel 2044 can knock on the wall and can also walk on the wall.

[0044] like Figures 2 to 3 and Figures 5 and 6As shown, in a specific embodiment, the third sliding mechanism includes two arc-shaped slide grooves 303, which are respectively opened on the bottom inclined surfaces of the first rotating cylinder 302 and the second rotating cylinder 3021, and the inner cavities of the two arc-shaped slide grooves 303 are slidably mounted with guide sliders 3031. In this setting, the installation position and components of the third sliding mechanism are determined.

[0045] like Figures 2 to 6 As shown, further, the ends of the two guide sliders 3031 away from the arcuate slot 303 are fixedly connected with the first connecting rod 301 and the second connecting rod 3011, and the ends of the first connecting rod 301 and the second connecting rod 3011 away from the guide sliders 3031 are fixedly connected to the first tilting block 2012 and the second tilting block 2013. In this arrangement, it is ensured that when the first tilting block 2012 or the second tilting block 2013 moves upward, the first tilting block 2012 or the second tilting block 2013 will be able to drive the first connecting rod 301 or the second connecting rod 3011 to move upward, so that the first connecting rod 301 or the second connecting rod 3011 can push the guide slider 3031 and the arcuate slot 303 in the third sliding mechanism provided on the first rotating drum 302 and the second rotating drum 3021 to drive the first rotating drum 302 or the second rotating drum 3021 to rotate with the assistance of the third bearing 3022.

[0046] like Figures 2 to 6 As shown, further, the cleaning mechanism includes a first cleaning plate 3042 and a second cleaning plate 3043, and a connecting plate 3041 is fixedly connected to one side wall of the first cleaning plate 3042 and the second cleaning plate 3043, and a fixing rod 304 is fixedly connected to the upper end of the two connecting plates 3041 away from the first cleaning plate 3042 and the second cleaning plate 3043, and the upper ends of the two fixing rods 304 are fixedly connected to the bottom of the first rotating drum 302 and the second rotating drum 3021. In this configuration, the installation position and components of the cleaning mechanism are determined.

[0047] Embodiment 3:

[0048] The difference between the above embodiment and this embodiment is that: Figures 1 to 7 As shown, a weld maintenance robot includes the walking mechanism of the above-mentioned wall-climbing robot.

[0049] The implementation principle of the walking mechanism of a wall-climbing robot and a weld inspection robot of this embodiment is as follows:

[0050] First, the staff places the wall-climbing robot body 101 on the wall, and then controls the wall-climbing robot body 101 to walk on the wall through the controller (wherein the wall-climbing robot body 101 walking on the wall is a prior art);

[0051] When the wall-climbing robot body 101 walks on the wall, the scraper plate 1011 provided at the front end of the wall-climbing robot body 101 can scrape off the dust and impurities on the wall, so that the wall can be clearer. When the wall-climbing robot body 101 walks, the rotating wheel 1022 provided at the bottom of the wall-climbing robot body 101 can fit the wall. Therefore, when the wall-climbing robot body 101 walks, the rotating wheel 1022 can rotate with the assistance of the rotating rod 102 and the first bearing 1021.

[0052] When the rotating rod 102 rotates, it can drive the first cam 201 and the second cam 2011 to rotate respectively, so that the first cam 201 and the second cam 2011 can alternately squeeze the first inclined block 2012 and the second inclined block 2013 to move back and forth in the vertical direction with the assistance of the first sliding groove 202 and the first sliding block 2021 in the first sliding mechanism (the upward movement is due to the squeezing force of the first cam 201 and the second cam 2011, and the downward movement is due to the gravity of the first inclined block 2012 and the second inclined block 2013 themselves);

[0053] When the first tilting block 2012 and the second tilting block 2013 move vertically upward respectively, they can squeeze the first flip plate 203 and the second flip plate 2033 to rotate with the assistance of the rotating rod 2031 and the second bearing 2032. When the first flip plate 203 and the second flip plate 2033 rotate, they can respectively push the fixed limit blocks on the first moving rod 2041 and the second moving rod 2042 to move, so that the first moving rod 2041 and the second moving rod 2042 can be driven by the limit blocks to push the placement plate 2052 in the second sliding groove 205 and the second sliding groove 205 of the second sliding mechanism. The first sliding mechanism is assisted by the slider 2051, so that the placement plate 2052 can squeeze the return spring 2053 when moving, so that the return spring 2053 can accumulate force, until the first tilting block 2012 or the second tilting block 2013 loses the squeezing force of the first cam 201 and the second cam 2011, and the return spring 2053 can elastically allow the placement plate 2052 to move with the assistance of the second sliding mechanism, so that the first moving rod 2041 or the second moving rod 2042 can be quickly ejected, thereby knocking on the wall, so that the wall can vibrate and dust falls off;

[0054] When the first tilting block 2012 or the second tilting block 2013 moves upward, the first tilting block 2012 or the second tilting block 2013 will be able to drive the first connecting rod 301 or the second connecting rod 3011 to move upward, so that the first connecting rod 301 or the second connecting rod 3011 can push the guide slider 3031 and the arc-shaped sliding groove 303 in the third sliding mechanism provided on the first rotating cylinder 302 and the second rotating cylinder 3021 to drive the first rotating cylinder 302 or the second rotating cylinder 3021 to rotate with the assistance of the third bearing 3022. When the rotating drum 302 or the second rotating drum 3021 rotates, it will be able to drive the fixed rod 304 installed at the bottom to rotate, and the connecting plate 3041 will be driven to move through the fixed rod 304. The first cleaning plate 3042 or the second cleaning plate 3043 can be driven to rotate through the connecting plate 3041, thereby cleaning the front lenses of the cameras set at the first detection component 103 and the second detection component 1031, thereby ensuring that the first detection component 103 and the second detection component 1031 can always maintain clear detection of the wall.

Claims

1. A walking mechanism of a wall-climbing robot, comprising a mounting unit (100), a transmission unit (200) and a rotating unit (300), characterized in that: The mounting unit (100) comprises a wall-climbing robot body (101), a scraping plate (1011) is fixedly mounted on one side wall of the wall-climbing robot body (101), a rectangular groove is provided at the bottom of the wall-climbing robot body (101), two mutually symmetrical mounting plates (1012) are fixedly mounted at the bottom of the wall-climbing robot body (101), a first bearing (1021) is respectively arranged on the two mounting plates (1012), the two first bearings (1021) are symmetrical to each other, a rotating rod (102) is arranged in the inner cavity of the two first bearings (1021), a rotating wheel (1022) is fixedly mounted on the rotating rod (102), a first detection component (103) and a second detection component (1031) are respectively fixedly mounted above the inner cavity of the wall-climbing robot body (101), the first detection component (103) and the second detection component (1031) are symmetrical to each other; The transmission unit (200) comprises a first cam (201) and a second cam (2011), the first cam (201) and the second cam (2011) being fixedly mounted on the rotating rod (102) respectively, a first tilting block (2012) and a second tilting block (2013) being respectively arranged above the first cam (201) and the second cam (2011), the two first tilting blocks (2012) and the second tilting blocks (2013) being staggered and symmetrical, a first sliding mechanism being arranged on one side wall of the two first tilting blocks (2012) and the second tilting blocks (2013), a flipping mechanism being further arranged on one side wall of the two first tilting blocks (2012) and the second tilting blocks (2013), and a rectangular tube (204) being arranged on one side wall of the flipping mechanism, the two rectangular tubes (204) being staggered and symmetrical, and the inner cavities of the two rectangular tubes (204) being both arranged with a second sliding mechanism; The rotating unit (300) comprises a first rotating cylinder (302) and a second rotating cylinder (3021), and third bearings (3022) are respectively arranged above the first rotating cylinder (302) and the second rotating cylinder (3021), and the two third bearings (3022) are respectively installed above the inner cavity of the wall-climbing robot body (101), and the two third bearings (3022) are symmetrical to each other. The bottoms of the first rotating cylinder (302) and the second rotating cylinder (3021) are respectively provided with staggered and symmetrical inclined surfaces, and a third sliding mechanism is arranged on the inclined surfaces. A cleaning mechanism is also fixedly installed at the bottoms of the first rotating cylinder (302) and the second rotating cylinder (3021).

2. The walking mechanism of a wall-climbing robot according to claim 1, characterized in that: The first sliding mechanism comprises two first sliding grooves (202), the two first sliding grooves (202) are respectively arranged on two opposite side walls of the inner cavity of the wall-climbing robot body (101), the two first sliding grooves (202) are staggered and symmetrical with each other, the inner cavities of the two first sliding grooves (202) are respectively slidably installed with first sliding blocks (2021), the two first sliding blocks (2021) are staggered and symmetrical with each other, and the two first sliding blocks (2021) are respectively fixedly connected to the first inclined block (2012) and the second inclined block (2013) at one end away from the first sliding groove (202).

3. The walking mechanism of a wall-climbing robot according to claim 1, characterized in that: The flip mechanism comprises a first flip plate (203) and a second flip plate (2033); the first flip plate (203) and the second flip plate (2033) are respectively placed on one side wall of the first tilting block (2012) and the second tilting block (2013); a rotating rod (2031) is respectively fixedly mounted on the first flip plate (203) and the second flip plate (2033); a second bearing (2032) is respectively arranged at one end of the two rotating rods (2031) away from the first flip plate (203) and the second flip plate (2033); and the two second bearings (2032) are respectively mounted on two opposite side walls of the inner cavity of the wall-climbing robot body (101).

4. The walking mechanism of a wall-climbing robot according to claim 1, characterized in that: The second sliding mechanism comprises four second sliding grooves (205), the four second sliding grooves (205) are respectively arranged on two opposite side walls of the inner cavity of two rectangular cylinders (204), the four second sliding grooves (205) are symmetrical to each other, the inner cavities of the four second sliding grooves (205) are all slidably mounted with second sliding blocks (2051), the four second sliding blocks (2051) are symmetrical to each other, and a placement plate (2052) is fixedly mounted on the opposite side wall.

5. The walking mechanism of a wall-climbing robot according to claim 4, characterized in that: A return spring (2053) is fixedly mounted on one end of the two placement plates (2052), and the other ends of the two return springs (2053) are fixedly connected to the inner wall of the rectangular tube (204).

6. The walking mechanism of a wall-climbing robot according to claim 5, characterized in that: The two placing plates (2052) are respectively fixedly connected to a first moving rod (2041) and a second moving rod (2042) at one end away from the return spring (2053), and limit blocks are respectively fixedly installed on the first moving rod (2041) and the second moving rod (2042). The first moving rod (2041) and the second moving rod (2042) are respectively provided with a rectangular slot (2043) at one end away from the rectangular tube (204), and a rotating wheel (2044) is rotatably arranged in the inner cavity of the rectangular slot (2043).

7. The walking mechanism of a wall-climbing robot according to claim 1, characterized in that: The third sliding mechanism comprises two arc-shaped slide grooves (303), the two arc-shaped slide grooves (303) are respectively arranged on the bottom inclined surfaces of the first rotating cylinder (302) and the second rotating cylinder (3021), and the inner cavities of the two arc-shaped slide grooves (303) are both slidably mounted with guide sliding blocks (3031).

8. The walking mechanism of a wall-climbing robot according to claim 7, characterized in that: The two guide sliders (3031) are respectively fixedly connected to a first connecting rod (301) and a second connecting rod (3011) at one end away from the arc-shaped slide groove (303); and the first connecting rod (301) and the second connecting rod (3011) are respectively fixedly connected to a first tilting block (2012) and a second tilting block (2013) at one end away from the guide slider (3031).

9. The walking mechanism of a wall-climbing robot according to claim 1, characterized in that: The cleaning mechanism comprises a first cleaning plate (3042) and a second cleaning plate (3043), one side wall of the first cleaning plate (3042) and the second cleaning plate (3043) are respectively fixedly connected with a connecting plate (3041), and the two connecting plates (3041) are respectively fixedly connected with a fixing rod (304) above one end away from the first cleaning plate (3042) and the second cleaning plate (3043), and the upper ends of the two fixing rods (304) are respectively fixedly connected to the bottom of the first rotating drum (302) and the bottom of the second rotating drum (3021).

10. A welding seam maintenance robot, characterized in that: It comprises a walking mechanism of a wall-climbing robot as described in any one of claims 1 to 9.

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