Wall-climbing plugging robot

Abstract

The invention relates to a wall-climbing plugging robot which comprises a robot body, a cleaning arm, a conveying pipe and a climbing assembly. A control part and a driving part are installed in the machine body and electrically connected, and the cleaning arm is installed on one side of the machine body and electrically connected with the control part. The conveying pipe is installed in the machine body, and a discharging port of the conveying pipe and the cleaning arm are located on the same side of the machine body. The crawling assembly comprises a magnetic attraction part, a pulley block and an elastic part, the magnetic attraction part and the pulley block are both installed at the bottom of the machine body, and the elastic part is installed between the pulley block and the machine body. In the process of repairing the damaged area of the flood overflow arc gate, the robot only needs to be controlled to reach the damaged area of the flood overflow arc gate for repairing, and the effect of reducing the risk of repairing the flood overflow arc gate is achieved.

Description

Technical Field

[0001] The invention relates to the technical field of underwater robots, and in particular to a wall-climbing and plugging robot. Background Art

[0002] Spillway gates are gates specially designed to release floodwater and maintain the water level balance of the reservoir. Spillway gates are able to withstand various static and dynamic loads and can be opened and closed in flowing water. However, under the influence of high-speed water flow, spillway gates and their ancillary structures may suffer from vibration, cavitation, scour or accelerated damage due to sediment wear.

[0003] Therefore, it is necessary to extend the service life of the equipment through regular maintenance. At present, the maintenance of the spillway arc gate usually requires operators to use a stepped arc scaffolding to repair the spillway arc gate. In the process of operators using the stepped arc scaffolding to repair the spillway arc gate, not only is the maintenance cost high, but there is also a greater risk for operators to operate on the spillway arc gate, and the repair of the spillway arc gate is inconvenient.

[0004] In recent years, robots have gradually been used to replace manual labor. Robots can complete the inspection, cleaning, and repair of spillway arc gates without direct human contact, which not only reduces labor costs but also avoids the dangerous environment that operators may face.

[0005] For example, the "self-adsorption underwater detection and repair intelligent device" disclosed in patent publication number CN116198675A adopts a wheeled crawler independent movement mode. Taking into account the adsorption capacity requirements of the device, the wheeled structure is combined with an electromagnetic unit to provide a strong adsorption capacity without affecting the flexibility of movement;

[0006] In the repair work of the spillway arc gate, if the magnetic adsorption track is used to walk on the arc gate plate, a gap is likely to occur between the track and the arc gate plate, and the magnetic attraction can only achieve the maximum adsorption force when it is completely fitted on the magnetic material. When there is a gap in the middle, the adsorption force of the magnetic attraction is greatly attenuated. The arc-shaped gate plate will cause uneven contact force when the track is walking, and the fit between the track and the arc gate plate will be affected, thereby reducing the overall grip of the track and reducing adaptability. Summary of the invention

[0007] In view of the deficiencies in the prior art, the present invention provides a wall-climbing and plugging robot to solve the above problems.

[0008] The present invention provides the following technical solutions:

[0009] A wall-climbing and blocking robot, comprising:

[0010] A machine body, wherein a control component and a driving component are installed in the machine body, and the control component is electrically connected to the driving component;

[0011] A cleaning arm is installed on one side of the machine body, and the cleaning arm is electrically connected to the control unit so that the control unit controls the cleaning arm to perform cleaning;

[0012] A delivery pipe is installed in the machine body, and the discharge port of the delivery pipe and the cleaning arm are located on the same side of the machine body;

[0013] The crawling assembly includes a magnetic component, a pulley block and an elastic component. The magnetic component and the pulley block are both installed at the bottom of the body. An elastic component is installed between the pulley block and the body so that when the magnetic component is adsorbed, the pulley block can move toward the body to compress the elastic component.

[0014] By adopting the above technical solution, the machine body is placed in water, and the driving member is controlled by the control member to move in the water, so that the machine body is close to the damaged area of ​​the spillway arc gate, so that the surface of the pulley group contacts the surface of the spillway arc gate, and then the driving member and the pulley group cooperate and jointly drive the machine body to reach the damaged area of ​​the spillway arc gate.

[0015] After reaching the damaged area of ​​the spillway arc gate, the machine body is positioned on the spillway arc gate using a magnetic suction device. The control device then controls the cleaning arm to clean up the garbage in the damaged area of ​​the spillway arc gate. Grouting is then injected into the damaged area of ​​the spillway arc gate through a delivery pipe, so that the grouting material forms a barrier in the damaged part, thereby completing the repair of the damaged part.

[0016] During the process of repairing the damaged area of ​​the spillway arc gate, there is no need for the operator to approach the damaged area of ​​the spillway arc gate. The operator only needs to control the robot to reach the damaged area of ​​the spillway arc gate for repair, thereby greatly reducing the risk of spillway arc gate repair.

[0017] By replacing the crawler in the prior art with a pulley block, the pulley block is designed to roll directly along the arc gate plate when it moves on the arc gate plate, avoiding the problem of a gap between the crawler and the arc gate plate. This ensures that the device moves smoothly on the arc gate plate, and the adsorption force will not be attenuated due to the gap, thereby avoiding the risk of the blocking robot sliding due to insufficient adsorption force.

[0018] The pulley block can be adjusted according to the curvature of the arc gate plate to adapt to gate surfaces of different shapes and sizes, and has stronger adaptability and versatility.

[0019] Optionally, the cleaning arm includes a hydraulic turntable, a main arm, a small arm and a clamp, the hydraulic turntable is fixedly connected to the machine body, the main arm is hinged on the hydraulic turntable, and a main hydraulic cylinder is installed between the main arm and the hydraulic turntable, the small arm is hinged on the main arm, and an auxiliary hydraulic cylinder is installed on the diameter of the small arm and the main arm, the clamp is fixedly connected to one end of the small arm away from the main arm, and the hydraulic turntable, the main hydraulic cylinder and the auxiliary hydraulic cylinder are all electrically connected to the control component.

[0020] By adopting the above technical solution, the main arm can be driven to rotate by controlling the rotation of the hydraulic turntable using the control component, and then the main hydraulic cylinder is used to control the bending of the main arm and the hydraulic turntable. At the same time, the auxiliary hydraulic cylinder controls the bending of the forearm and the main arm, thereby controlling the clamp to move freely at the front end of the machine body, so that the clamp can clean up the garbage on the spillway arc gate.

[0021] Optionally, a camera is also mounted on the machine body, the camera is arranged toward the cleaning arm, and the camera is electrically connected to the control component.

[0022] By adopting the above technical solution, the setting of the camera makes it easy for the operator to remotely observe the working environment of the robot, so that the cleaning process of the cleaning arm and the delivery volume of the delivery pipe can be monitored in real time, thereby improving the accuracy and efficiency of repairs.

[0023] Optionally, a rotating table is installed between the camera and the body, the rotating table is fixedly connected to the body, a rotating plate is rotatably connected to the rotating table, the camera is mounted on the rotating plate, a rotating motor is installed on the rotating table, and the rotating axis of the rotating plate is coaxially and fixedly connected to the output shaft of the rotating motor.

[0024] By adopting the above technical solution, the rotating plate is driven to rotate by a rotating motor, thereby controlling the camera to adjust the irradiation angle, thereby facilitating the operator to observe a wider range of the robot's working environment, thereby facilitating the operator to conduct a comprehensive analysis.

[0025] Optionally, an auxiliary light is installed on the rotating plate, the axis of the auxiliary light is parallel to the axis of the camera, and the auxiliary direction is consistent with the direction of the camera.

[0026] By adopting the above technical solution, the setting of the auxiliary light improves the imaging quality of the camera in low-light environments, ensuring the continuity and reliability of the cleaning process.

[0027] Optionally, a plurality of mounting platforms are installed at the bottom of the body, a plurality of mounting grooves are opened on the mounting platforms, and the magnetic attraction member and the pulley block are respectively installed in the mounting grooves.

[0028] By adopting the above technical solution and setting up the mounting table and the mounting groove, modular installation of the magnetic suction parts and the pulley block is achieved, which facilitates the maintenance and replacement of the magnetic suction parts and the pulley block, and improves the durability and maintenance convenience of the robot.

[0029] Optionally, the magnetic attraction component includes a joint bearing, a joint rod and an electromagnet, the joint bearing is installed in the installation groove, the joint rod is connected to the joint bearing and extends away from the body, and the electromagnet is fixedly connected to a side of the joint rod away from the body.

[0030] By adopting the above technical solution and utilizing the cooperation of the joint bearing, the joint rod and the electromagnet, the electromagnet can be firmly adsorbed on the surface of the spillway arc gate, thereby improving the stability and safety of the robot.

[0031] Optionally, the pulley group includes a sliding rod, a rolling seat and a ball, the sliding rod is slidably connected in the mounting groove, the rolling seat is fixedly connected to a side of the sliding rod away from the machine body, the ball is installed in the rolling seat, and the ball passes through the rolling seat on a side away from the machine body.

[0032] By adopting the above technical solution and utilizing the cooperation of the sliding rod, the rolling seat and the ball bearing, the robot body is not likely to collide with the overflow arc gate when approaching the overflow arc gate, and the overall movement of the robot is more flexible, friction is reduced, and movement efficiency is improved.

[0033] Optionally, the elastic member includes a return spring, which is sleeved on the rolling rod, and one end of the return spring abuts against the rolling seat, and the other end abuts against the mounting platform.

[0034] By adopting the above technical solution and setting the reset spring, when the robot needs to be positioned on the spillway arc gate, the reset spring is compressed under the adsorption of the magnetic suction component, so that the gap between the magnetic suction component and the spillway arc gate is smaller, and the magnetic suction component can be more stably adsorbed on the spillway arc gate.

[0035] Optionally, the magnetic attraction member and the pulley block located on the same mounting platform are staggered around the axis of the mounting platform.

[0036] By adopting the above technical solution, the staggered arrangement of magnetic suction parts and pulley groups helps the robot to distribute suction more evenly on the spillway arc gate, thereby improving the stability of the body's adsorption and the balance of movement.

[0037] The present invention has the following beneficial technical effects:

[0038] The cooperation of the movable part, the cleaning arm, the conveying pipe, the magnetic part, the pulley block and the elastic part of the present invention makes it unnecessary for an operator to approach the damaged area of ​​the spillway arc gate during the repair process of the damaged area of ​​the spillway arc gate. The operator only needs to control the robot to reach the damaged area of ​​the spillway arc gate for repair, thereby achieving the effect of greatly reducing the risk of repairing the spillway arc gate.

[0039] Through the coordination of the hydraulic turntable, main arm, forearm, main hydraulic cylinder, auxiliary hydraulic cylinder and clamping claw, the clamping claw can move freely at the front end of the machine body, so as to facilitate the clamping claw to clean the garbage on the spillway arc gate;

[0040] Through the cooperation of the camera, rotating table, rotating plate and rotating motor, the camera is controlled to adjust the angle of illumination, so that the operator can observe the robot's working environment in a wider range, and then the operator can conduct a comprehensive analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] Figure 1 It is a schematic diagram of the structure of the present invention;

[0042] Figure 2 Schematic diagram of the structure of the cleaning arm in the embodiment of the present invention.

[0043] Figure 3 It is a schematic diagram of the structure of the crawling component in an embodiment of the present invention.

[0044] Figure 4 yes Figure 3 Cross-sectional view at AA in the middle.

[0045] The reference numerals in the figure are:

[0046] 1. Machine body; 11. Control part; 12. Driving part; 2. Cleaning arm; 21. Hydraulic turntable; 22. Main arm; 23. Forearm; 24. Gripper; 25. Main hydraulic cylinder; 26. Auxiliary hydraulic cylinder; 3. Conveying pipe; 4. Crawling assembly; 41. Magnetic part; 411. Joint bearing; 412. Joint rod; 413. Electromagnet; 42. Pulley block; 421. Sliding rod; 422. Rolling seat; 423. Ball; 43. Elastic part; 431. Reset spring; 5. Camera; 6. Turntable; 61. Turntable plate; 62. Turning motor; 7. Auxiliary light; 8. Mounting table; 81. Mounting slot. DETAILED DESCRIPTION

[0047] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0048] Example:

[0049] A wall-climbing blocking robot, such as Figure 1-4 As shown:

[0050] It includes a body 1, a cleaning arm 2, a conveying pipe 3 and a crawling assembly 4. A control component 11 and a driving component 12 are installed in the body 1, and the control component 11 is electrically connected to the driving component 12. The cleaning arm 2 is installed on one side of the body 1, and the cleaning arm 2 is electrically connected to the control component 11. The conveying pipe 3 is installed in the body 1, and the discharge port of the conveying pipe 3 and the cleaning arm 2 are located on the same side of the body 1. The crawling assembly 4 includes a magnetic component 41, a pulley block 42 and an elastic component 43. The magnetic component 41 and the pulley block 42 are both installed at the bottom of the body 1, and an elastic component 43 is installed between the pulley block 42 and the body 1. In the process of repairing the damaged area of ​​the spillway arc gate, it is only necessary to control the robot to reach the damaged area of ​​the spillway arc gate for repair, thereby greatly reducing the risk of repairing the spillway arc gate.

[0051] The driving member 12 is a driving blade. In this embodiment, 8 driving blades are provided, of which 4 driving blades are arranged vertically to facilitate the body 1 to float and dive, and the other 4 driving blades are distributed horizontally to facilitate the body 1 to turn in the water.

[0052] In this embodiment, the cleaning arm 2 includes a hydraulic turntable 21, a main arm 22, a small arm 23 and a clamp 24. In other embodiments, a suitable cleaning head can be selected according to the part to be cleaned, such as a nozzle or other cleaning parts such as a cleaning disc. In this embodiment, there are other scattered impurities in the damaged part to be repaired, which may easily lead to the grouting material being loosely adsorbed. Therefore, in this embodiment, the clamp 24 is used to clamp out the scattered impurities in the damaged part, so that the grouting material forms a solid barrier in the damaged part, making the repaired part more firm.

[0053] The hydraulic turntable 21 is fixedly connected to the machine body 1, the main arm 22 is hinged on the hydraulic turntable 21, and a main hydraulic cylinder 25 is installed between the main arm 22 and the hydraulic turntable 21, the forearm 23 is hinged on the main arm 22, and an auxiliary hydraulic cylinder 26 is installed on the diameter of the forearm 23 and the main arm 22, the clamp 24 is fixedly connected to the end of the forearm 23 away from the main arm 22, and the hydraulic turntable 21, the main hydraulic cylinder 25 and the auxiliary hydraulic cylinder 26 are all electrically connected to the control component 11.

[0054] During the cleaning process, the cleaning arm 2 uses the control component 11 to control the rotation of the hydraulic turntable 21 to drive the main arm 22 to rotate, so that the clamping claw 24 can find the angle that needs to be cleaned, and then the main hydraulic cylinder 25 controls the main arm 22 and the hydraulic turntable 21 to bend, and at the same time the auxiliary hydraulic cylinder 26 controls the forearm 23 and the main arm 22 to bend, thereby continuously controlling the cleaning arm 2 to enter the damaged part for cleaning, and through the cooperation of the hydraulic turntable 21, the main arm 22, the main hydraulic cylinder 25, the forearm 23, the auxiliary hydraulic cylinder 26 and the clamping claw 24, the clamping claw 24 is controlled to move freely at the front end of the body 1, so that the clamping claw 24 can clean the garbage on the overflow arc gate.

[0055] At the same time, in order to facilitate the operation of the operator, a camera 5 is also installed on the body 1, the camera 5 is arranged toward the cleaning arm 2, and the camera 5 is electrically connected to the control member 11. The camera 5 is arranged to facilitate the operator to remotely observe the working environment of the robot, so that the cleaning process of the cleaning arm 2 and the conveying amount of the conveying pipe 3 can be monitored in real time, thereby improving the accuracy and efficiency of the repair.

[0056] In order to facilitate the operator to quickly locate the damaged part of the overflow arc gate, a rotating platform 6 is installed between the camera 5 and the body 1. The rotating platform 6 is fixedly connected to the body 1. A rotating plate 61 is rotatably connected to the rotating platform 6. The camera 5 is installed on the rotating plate 61. A rotating motor 62 is installed on the rotating platform 6. The rotating shaft of the rotating plate 61 is coaxially fixedly connected with the output shaft of the rotating motor 62. The field of view of the camera 5 is enlarged by the rotation of the rotating plate 61.

[0057] The rotating plate 61 is driven to rotate by the rotating motor 62, thereby controlling the camera 5 to adjust the irradiation angle, thereby facilitating the operator to observe a wider range of the robot's working environment, thereby facilitating the operator to conduct a comprehensive analysis.

[0058] When the water is deep, the underwater light is poor, and insufficient light can easily lead to unclear images of the camera 5. Therefore, an auxiliary lamp 7 is installed on the rotating plate 61. In this embodiment, two auxiliary lamps 7 are provided, and the camera 5 is located between the two auxiliary lamps 7. The axis of the auxiliary lamp 7 is parallel to the axis of the camera 5, and the auxiliary direction is consistent with the direction of the camera 5. The two auxiliary lamps 7 located on both sides of the camera 5 improve the imaging quality of the camera 5 in an environment with insufficient light, and ensure the continuity and reliability of the cleaning and repair process.

[0059] A plurality of mounting platforms 8 are installed at the bottom of the body 1. In this embodiment, the body 1 is arranged in a rectangular shape, so four mounting platforms 8 are arranged. The four mounting platforms 8 are distributed in a rectangular shape at the bottom of the body 1. A plurality of mounting grooves 81 are opened on the mounting platform 8, and the magnetic attraction member 41 and the pulley block 42 are respectively installed in the mounting grooves 81.

[0060] The arrangement of the mounting platform 8 and the mounting groove 81 enables the magnetic component 41 and the pulley block 42 to be modularly assembled during installation and disassembly, thereby realizing modular installation of the magnetic component 41 and the pulley block 42, facilitating maintenance and replacement of the magnetic component 41 and the pulley block 42, and improving the durability and ease of maintenance of the robot.

[0061] The magnetic members 41 and the pulley blocks 42 on the same mounting platform 8 are staggered around the axis of the mounting platform 8. In this embodiment, six mounting slots 81 are provided on the same mounting platform 8, so three magnetic members 41 and three pulley blocks 42 are installed on each mounting platform 8. The staggered magnetic members 41 and pulley blocks 42 help the robot to distribute suction more evenly on the spillway arc gate, thereby improving the adsorption stability and movement balance of the body 1.

[0062] Reference Figure 3 and Figure 4 The magnetic attraction part 41 includes a joint bearing 411, a joint rod 412 and an electromagnet 413. The joint bearing 411 is installed in the installation groove 81. The joint rod 412 is connected to the joint bearing 411 and extends away from the body 1. The electromagnet 413 is fixedly connected to the side of the joint rod 412 away from the body 1. The setting of the joint bearing 411 allows the joint rod 412 to change its angle slightly, thereby controlling the angle of the electromagnet 413 when it fits with the spillway arc gate, so that the electromagnet 413 can be firmly adsorbed on the surface of the spillway arc gate, improving the stability and safety of the robot.

[0063] The pulley block 42 includes a sliding rod 421, a rolling seat 422 and a ball 423. The sliding rod 421 is slidably connected in the mounting groove 81, the rolling seat 422 is fixedly connected to the side of the sliding rod 421 away from the machine body 1, and the ball 423 is installed in the rolling seat 422, and the side of the ball 423 away from the machine body 1 passes out from the rolling seat 422. The part of the ball 423 passing out from the rolling seat 422 is in contact with the overflow arc gate, so that when the robot approaches the overflow arc gate, the machine body 1 is not likely to collide with the overflow arc gate, the overall movement of the robot is more flexible, the friction is reduced, and the movement efficiency is improved.

[0064] In order to prevent the pulley block 42 from obstructing the magnetic component 41 during the adsorption of the magnetic component 41, thereby causing a gap between the magnetic component 41 and the spillway arc gate and weakening the magnetic adsorption effect, an elastic component 43 is provided to reduce the obstruction of the pulley block 42 to the adsorption of the magnetic component 41. At the same time, the elastic component 43 can also play a buffering role when the pulley block 42 contacts the spillway arc gate.

[0065] The elastic member 43 includes a return spring 431, which is sleeved on the rolling rod, and one end of the return spring 431 abuts on the rolling seat 422, and the other end abuts on the mounting platform 8. The setting of the return spring 431 allows the return spring 431 to be compressed under the adsorption of the magnetic member 41 when the robot needs to be positioned on the spillway arc gate, so that the gap between the magnetic member 41 and the spillway arc gate is smaller, and the magnetic member 41 can be more stably adsorbed on the spillway arc gate.

[0066] The implementation principle of a wall-climbing blocking robot in an embodiment of the present application is: putting the body 1 into water, controlling the driving component 12 to move in the water through the control component 11, so that the body 1 is close to the damaged area of ​​the spillway arc gate, so that the surface of the pulley group 42 contacts the surface of the spillway arc gate, and then the driving component 12 and the pulley group 42 cooperate and jointly drive the body 1 to reach the damaged area of ​​the spillway arc gate.

[0067] After reaching the damaged area of ​​the spillway arc gate, the body 1 is firmly adsorbed on the spillway arc gate by using the magnetic suction part 41, and then the control part 11 controls the movement of the hydraulic turntable 21, the main arm 22, the small arm 23 and the clamping claw 24 to clean up the garbage in the damaged area of ​​the spillway arc gate, and then grouting is injected into the damaged area of ​​the spillway arc gate through the conveying pipe 3, so that the grouting material forms a barrier in the damaged part, thereby completing the repair of the damaged part.

[0068] During the process of repairing the damaged area of ​​the spillway arc gate, there is no need for the operator to approach the damaged area of ​​the spillway arc gate. The operator only needs to control the robot to reach the damaged area of ​​the spillway arc gate for repair, thereby greatly reducing the risk of spillway arc gate repair.

[0069] The above-mentioned embodiments only express the specific implementation of the present invention, and the description thereof is relatively specific and detailed, but it cannot be understood as limiting the scope of the present invention. It should be pointed out that, for ordinary technicians in this field, several variations and improvements can be made without departing from the concept of the present invention, which all belong to the protection scope of the present invention.

Claims

1. A wall-climbing and plugging robot, characterized in that: include: A machine body (1), wherein a control component (11) and a driving component (12) are installed in the machine body (1), and the control component (11) is electrically connected to the driving component (12); A cleaning arm (2) is mounted on one side of the machine body (1), and the cleaning arm (2) is electrically connected to the control component (11) so that the control component (11) controls the cleaning arm (2) to perform cleaning; A conveying pipe (3) is installed in the machine body (1), and the discharge port of the conveying pipe (3) and the cleaning arm (2) are located on the same side of the machine body (1); The crawling assembly (4) comprises a magnetic member (41), a pulley block (42) and an elastic member (43), wherein the magnetic member (41) and the pulley block (42) are both installed at the bottom of the machine body (1), and an elastic member (43) is installed between the pulley block (42) and the machine body (1), so that when the magnetic member (41) is adsorbed, the pulley block (42) can move toward the machine body (1) to compress the elastic member (43).

2. The wall-climbing and plugging robot according to claim 1, characterized in that: The cleaning arm (2) comprises a hydraulic turntable (21), a main arm (22), a small arm (23) and a clamp (24); the hydraulic turntable (21) is fixedly connected to the machine body (1); the main arm (22) is hinged on the hydraulic turntable (21); a main hydraulic cylinder (25) is installed between the main arm (22) and the hydraulic turntable (21); the small arm (23) is hinged on the main arm (22); an auxiliary hydraulic cylinder (26) is installed between the small arm (23) and the main arm (22); the clamp (24) is fixedly connected to one end of the small arm (23) away from the main arm (22); the hydraulic turntable (21), the main hydraulic cylinder (25) and the auxiliary hydraulic cylinder (26) are all electrically connected to the control component (11).

3. The wall-climbing and plugging robot according to claim 1, characterized in that: A camera (5) is also mounted on the machine body (1), the camera (5) is arranged toward the cleaning arm (2), and the camera (5) is electrically connected to the control component (11).

4. The wall-climbing and plugging robot according to claim 3, characterized in that: A rotating platform (6) is also installed between the camera (5) and the body (1); the rotating platform (6) is fixedly connected to the body (1); a rotating plate (61) is rotatably connected to the rotating platform (6); the camera (5) is mounted on the rotating plate (61); a rotating motor (62) is installed on the rotating platform (6); and a rotating shaft of the rotating plate (61) is coaxially fixedly connected to an output shaft of the rotating motor (62).

5. The wall-climbing and plugging robot according to claim 4, characterized in that: An auxiliary light (7) is installed on the rotating plate (61), the axis of the auxiliary light (7) is parallel to the axis of the camera (5), and the direction of the auxiliary light is consistent with the direction of the camera (5).

6. The wall-climbing and plugging robot according to claim 1, characterized in that: A plurality of mounting platforms (8) are installed at the bottom of the machine body (1), and a plurality of mounting grooves (81) are provided on the mounting platforms (8). The magnetic attraction member (41) and the pulley block (42) are respectively installed in the mounting grooves (81).

7. The wall-climbing and plugging robot according to claim 6, characterized in that: The magnetic attraction component (41) comprises a joint bearing (411), a joint rod (412) and an electromagnet (413); the joint bearing (411) is installed in the installation groove (81); the joint rod (412) is connected to the joint bearing (411) and extends away from the body (1); and the electromagnet (413) is fixedly connected to a side of the joint rod (412) away from the body (1).

8. The wall-climbing and plugging robot according to claim 6, characterized in that: The pulley block (42) comprises a sliding rod (421), a rolling seat (422) and a ball (423); the sliding rod (421) is slidably connected in the mounting groove (81); the rolling seat (422) is fixedly connected to a side of the sliding rod (421) away from the machine body (1); the ball (423) is installed in the rolling seat (422), and the side of the ball (423) away from the machine body (1) passes through the rolling seat (422).

9. The wall-climbing and plugging robot according to claim 8, characterized in that: The elastic member (43) comprises a return spring (431), which is sleeved on the rolling rod, and one end of the return spring (431) abuts against the rolling seat (422), and the other end abuts against the mounting platform (8).

10. The wall-climbing and plugging robot according to claim 6, characterized in that: The magnetic attraction member (41) and the pulley block (42) located on the same mounting platform (8) are arranged in a staggered manner around the axis of the mounting platform (8).

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